lane_following_cam package

Lane following based on camera as a ROS 2 python package.

Packages and build

It is assumed that the workspace is ~/ros2_ws/.

Clone the packages

cd ~/ros2_ws/src

git clone https://github.com/robotverseny/lane_following_cam

Build ROS 2 packages

cd ~/ros2_ws

colcon build --packages-select lane_following_cam --symlink-install

Don't forget to source before ROS commands.

source ~/ros2_ws/install/setup.bash

Run the package

Start the lane detection node with compressed or raw image, e.g.:

ros2 run lane_following_cam lane_detect --ros-args -p image_topic:=/image_raw/compressed -p raw_image:=false

ros2 run lane_following_cam lane_detect --ros-args -p image_topic:=/image_raw -p raw_image:=true

ros2 run lane_following_cam lane_detect --ros-args -p image_topic:=/camera/color/image_raw -p raw_image:=true

There are launch files as well:

ros2 launch lane_following_cam example_bag.launch.py

ros2 launch lane_following_cam robot_raw1.launch.py

ros2 launch lane_following_cam robot_compressed1.launch.py

Start the camera

ros2 launch usb_cam_launcher usb_cam_a.launch.py

~/ros2_ws/src/lane_following_cam/shell/start_drivers.sh

Use ROS 2 bag (mcap)

Link: drive.google.com/drive/folders/181pcgmwZ5YjaCReB-aZJtW1JtxnJUaru?usp=sharing

ros2 bag play runde_vdi_lausitz_1.mcap --loop

This bag file contains /camera/color/image_raw topic, so easiest way to use is:

ros2 launch lane_following_cam example_bag.launch.py