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ROS Information

Below you will find information about all the ROS packages, nodes, topics used in this project.

Packages & Nodes

Here is a list of packages. Underneath each package are nodes in that package.

simulation

The major purpose of the simulation package is to connect our self-driving system to CARLA simulator. To run the package, please refer to the documentation here.

The simulation package can also run simulated camera inputs using the camera_sim_node

Nodes:

  • carla_client
  • camera_sim_node

Launch Files:

  • carla_client.launch
  • carla_client_with_rviz.launch
  • carla_client_with_rqt.launch
  • start_camera_sim.launch

autopilot

The autopilot node is the brain of the self-driving car. It uses end-to-end deep learning to predict the steering, acceleration and braking commands of the vehicle. while subscribes to the camera feed. (Node currently functioning) The Arduino subsribes to the steering_cmds and controls the steering accordingly.

Nodes:
  • autopilot
  • visualization
Publishes
  • /vehicle/dbw/steering_cmds/
  • /vehicle/dbw/cruise_cmds/
Subscribes
  • /camera_node/image_raw
  • /camera_node/image_sim

object_detection

YOLO (You Only Look Once) realtime object detection system.

Nodes:

  • object_detection_node

Publishes

  • /detection/object/detection_visualization/
  • /detection/object/detection_result

Subscribes:

  • /camera_node/image_raw

segmentation

Semantic segmentation node. Deep learning, ConvNets

Nodes:
  • segmentation_node
Publishes
  • /segmentation/visualization/
  • /segmentation/output
Subscribes
  • /camera_node/image_raw

driver

This is the main package of the project. It pulls together all the individual nodes to create a complete self-driving system.

Nodes:
  • drive

gps

Used for localization. Currently using the Adafruit GPS module, serial communication.

Nodes:
  • gps_receiver
  • nmea_topic_driver
  • nmea_topic_serial_reader

The GPS package manages and publishes the data received from a GPS module connected via serial. The package

Publishes:

  • /sensor/gps/fix
  • /sensor/gps/vel

data_logger

The logger node records and compiles a dataset for supervised machine learning purposes. The future is to use rosbag instead of the data_loggar node. (Node currently functioning)

Nodes:
  • logger

topics for visualization

  • /visual/steering/angle_img
  • /visual/detection/object/bbox_img
  • /visual/detection/lane/marking_img
  • /visual/segmentation/seg_img