Autonomous Vehicles and Artificial Intelligence

Demonstration

Live Demo

demo_live.mp4

Simulation with Detection, Sensor Filtering, Waypoint calculation and autonomous driving

simulation_autonomous_driving.mp4

Archived

This repository has been archived. As the course has been finished there won't be any updates or bug fixes.

Start Working

• Follow the emanual of TurtleBot3 to install all tools (use foxy)
  • emanual.robotis.com
• Clone the project with submodules as colcon_ws in your home folder
  • git clone --recurse-submodules -j8 https://github.com/esatbayhan/avai ~/colcon_ws
• Install all dependencies required by packages
  • rosdep install --from-paths src --ignore-src -r -y

Architecture

Stack

TurtleBot3

1. Start Camera ros2 run campkg camera
2. Start Camera Processing ros2 run campkg processing
3. Start Heartbeat (Emergency Stop) ros2 run controls heartbeat

Computer

4. Start Cone Detection ros2 run perception detector
5. Start Controller (Autonomous Driving) ros2 launch controls turtlebot3_burger.launch.py

Simulation

1. Start Simulation ros2 launch turtlebot3_gazebo track_1.launch.py
2. Start Simulated Camera ros2 run campkg simcam