autonomus_car_sim_base_ros2

This is base simulation for autonomus car projects using Yolov5 and OpenCV. This package tested in ROS2 Galactic. Package contains basic lane_tracking and yolov5 based scripts. Our team still devoloping the code i cant post the last version because we are getting ready for a COMPETATION make sure to fallow us.

Install ROS2

This package tested in ROS2 Galactic but u can use it with other ROS2 distros after making minimal changes. https://docs.ros.org/en/galactic/Installation.html

Clone repo

-> Create a workspace

  mkdir -p ros2_ws/src
  cd ros2_ws
  colcon build
  cd src
  git clone https://github.com/neraiv/autonomus_car_sim_base_ros2.git
  cd ..
  colcon build

Install Yolov5 requiremnts

1. Simply navigate to ../autonomus_car_sim_base_ros2/yolov5 directory and

pip install -r requirements.txt -> Some libraries may not install properly. Install them manually.

2. create weights/ directory inside the package and add ur Yolov5 model. Here is a model that contains some of the traffic signs https://drive.google.com/file/d/1adUnZ5WkgP-Z_jP-oTC_gWRkPe5M6iYk/view?usp=share_link.

Gazebo Models

This package has a car model, a race field and 17 traffic signs. Gazebo Sensors can't see gazebo models autside gazebo workspace, so to be able to see objects there are 2 options add gazebo model path to Gazebo Model Path using .bashrc (or equal) or add models into .gazebo folder located in Home. -> Navigate into ../autonomus_car_sim_base_ros2/gazebo_models directory and cut car_dae and models then paste them into .gazebo folder. -> Gazebo creates .gazebo folder autmatically after creating first model in Gazebo.

Now Everything Should be Ready

-> İnstall libraries if anyone missing :(

Open Three Terminals, one for simulation - one for lane_tracking and one for yolo

source the workspace on every terminal

  source install/setup.bash

First launch the Sim

  ros2 launch autonomus_car_sim_base_ros2 autonom_sim_base.launch.py

Start Yolo

  ros2 run autonomus_car_sim_base_ros2 gazebo_yolo.py

Start Lane Tracking

  ros2 run autonomus_car_sim_base_ros2 gazebo_lane_tracking.py