kmalhan/autonomous_park_ros

Autonomous Parking Spot Locator and Park System for Empty Parking Lot

Autonomous Parking Spot Locator and Park System for Empty Parking Lot

This repository contains source files for ECE495 Final Project (Winter 2016)

Contributors

• Kazumi Malhan

Steps to Setup Environment

1. Clone ece495_final_project from Bitbucket repository

2. Place following lines in .bachrc

     export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:"$(rospack find ugv_course_gazebo)/models":"$(rospack find project_gazebo)/models"  

3. Install Teb Local Planner package

   sudo apt-get update
       ```   
       ```bash
   sudo apt-get install ros-indigo-teb-local-planner  

   This installed all dependent packages. One critical package is SuiteSparse package located in /usr/include/suitesparse

4. Feature2d needs additional package

   sudo add-apt-repository --yes ppa:xqms/opencv-nonfree
       ```   
       ```bash  
   sudo apt-get update  
       ```   
       ```bash
   sudo apt-get install libopencv-nonfree-dev  

5. catkin_make

Note

• When catkin_make, it may complains that lane_extractConfig.h is not found. In this case, please comment out feature2d and lane_extract node of lane_extract package on CMakeLists.txt, and catkin_make. After header file is generated, un-comment sections and catkin_make again.

• Make sure ros-indigo-gazebo-plugins are installed.

Launch the Demo

roslaunch master_control final_project.launch

All dependent ugv_course_code is added to the repository. Sensors on audibot is modified from original code.

Nodes on Production

• odom_node
• car_nav_node
• master_node
• set_nav_point
• find_parking
• lane_extract

Nodes not used

• feature2d
• vehicle_control
• bicycle_state_stapce

Nodes under development

• img_transform_node
• img_transform