Self-driving car simulator

From Drivex_VGU team, an autonomous RC car simulation with scaled 1:10. This Github uses ROS 1 noetic for development.

To view full video demo, please visit full demo

Simulation features

• Autonomously drive on the designated map (highway, curves, intersection)
• Apply "Behavioral clonning", taking input from camera and output steering angle and speed

Quick step-by-step

To install odometry packages

sudo apt-get install ros-noetic-ros-controllers ros-noetic-ackermann-msgs ros-noetic-navigation

And please clone this repository to your ROS workspace (default is ~/catkin_ws/src). Change the git branch to the melodic-devel branch. This process can be done with the following commands:

cd ~/catkin_ws/src
git clone https://github.com/manuelgitgomes/steer_drive_ros.git
cd steer_drive_ros
git switch melodic-devel

# Move to default ~/catkin_ws workspace & run
catkin_make

To setup environment, please insert the bellow variables in your ~/.bashrc (note that you should modify the {YOUR_USER} to your local path)

source ~/catkin_ws/devel/setup.bash

# Simulation setup
export GAZEBO_MODEL_PATH="/home/{YOUR_USER}/catkin_ws/src/drivex_bfmc2023/src/models_pkg:$GAZEBO_MODEL_PATH"
export ROS_PACKAGE_PATH="/home/{YOUR_USER}/catkin_ws/src/drivex_bfmc2023/src:$ROS_PACKAGE_PATH"

# setup
export GAZEBO_MODEL_PATH="`rospack find drivex_driving`/models:${GAZEBO_MODEL_PATH}"
export DRIVEX_DRIVING="`rospack find drivex_driving`"
export GAZEBO_MODEL_PATH="`rospack find drivex_driving`:$GAZEBO_MODEL_PATH"

export ROS_PACKAGE_PATH="/home/{YOUR_USER}/catkin_ws/src/drivex_bfmc2023/src:$ROS_PACKAGE_PATH"

Then type

source ~/.bashrc

# Move to default ~/catkin_ws workspace & run
catkin_make

And please install the following dependencies:

pip3 install -r requirements.txt

Note that we should install Pytorch GPU to run the model for behavioural cloning algorithm. The installation guide of Pytorch GPU on Ubuntu can be found here

To spawn the map & the car

roslaunch drivex_main map_with_cardrivex.launch

To make the car run

roslaunch drivex_main main_driving.launch model_name:=nvidia_speedSteerV1

Note that nvidia_speedSteerV1 is the name of folder's model in package drivex_driving

To collect the dataset

roslaunch drivex_driving dataset_writing.launch

To train the Deep Learning model for behavioural cloning algorithm

python3 model_train.py --dataset_name {DATASET'S FOLDER NAME} --folder_name {MODEL'S FOLDER NAME}

To control the car manually from the keyboard (note that this command should run after spawning the map and the car)

rosrun drivex_showcar keyboard.py

To control the car with joy stick (the only option), please install dependencies and run the joy stick from ROS joy stick installation

Reference

https://github.com/ECC-BFMC/Simulator

https://github.com/AutomecUA/AutoMec-AD

https://github.com/CIR-KIT/steer_drive_ros.git