self-drive-ws

Software stack for 32nd IGVC (Intelligent Ground Vehicle Competition) Self-Drive Challenge (Team: Project MANAS).

System Architecture Overview

Full Technical Design Report available here.

Setup

This setup is typically performed on Ubuntu 22.04 LTS.

Install prerequisite libraries

1. ROS2 Humble
2. Other relevant apt and python packages

./libinstall.sh

3. Docker

Setup ROS1 bridge

1. Download the docker images from here.
2. Load the docker images.

docker load < ros_noetic.tar.gz
docker load < ros1_bridge_builder.tar.gz

3. Install nvidia-container-toolkit

sudo apt install nvidia-container-toolkit
sudo systemctl restart docker

4. Setup ros1-bridge

cd ~ && docker run --network host --rm ros-humble-ros1-bridge-builder | tar xvzf -
echo "source ~/ros-humble-ros1-bridge/install/local_setup.bash" >> ~/.bashrc
source ~/.bashrc

5. To build ROS1 packages,

cd ros1-bridge && docker run -it \\
    --env=\"QT_X11_NO_MITSHM=1\" \\
    --volume=\"\$(pwd):/dvolume\" \\
    --privileged \\
    --device=/dev/ttyACM0 \\
    --device=/dev \\
    --gpus device=0 \\
    -e DISPLAY=:0 \\
    -v /tmp/.X11-unix:/tmp/.X11-unix \\
    --network host \\
    -e ROS_MASTER_URI=http://localhost:11311 \\
    -e \"NVIDIA_DRIVER_CAPABILITIES=all\" \\
    -e \"NVIDIA_VISIBLE_DEVICES=all\" \\
    -e \"CONTAINER_COMMANDS=$CONTAINER_CMDS\" \\
    ros:noetic \\
    /dvolume/container_init.sh

Then, inside the container,

cd dvolume/
catkin_make

Build

To build and source only packages relevant for simulation-testing,

source simbuild.sh

To build and source all packages,

source irlbuild.sh

Configure

To set simulation mode, choose detection mode or specify behaviour code, edit src/launcher/config/config.yaml. Then,

colcon build --packages-select launcher

Run

If testing in simulation,

ros2 launch launcher main.launch.py

Otherwise,

BEHAVIOUR_CODE=0  # Set behaviour code as per requirement
./launch.sh $BEHAVIOUR_CODE # To terminate tmux session, run ./terminate.sh