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Currently only for simulator and ROS2 Instruction for simulator install

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Anastasiia edited this page Dec 16, 2024 · 5 revisions

Robocar uses ROS2 Humble Hawksbill and Gazebo 11.

Installation

Windows users read first Instruction for Windows users and then continue

Install Gazebo (download compatible with ROS2 Humble version 11). Install gazebo_ros_pkgs if not installed:

sudo apt install ros-humble-gazebo-ros-pkgs

Download this repository

git clone --recurse-submodules https://github.com/CatUnderTheLeaf/rosRoboCar.git

source /opt/ros/humble/local_setup.bash
cd /path/to/robocar_ws

# Install dependencies
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro humble

# Building packages
# It takes about 18 minutes
colcon build

# Source this workspace
source install/local_setup.bash

# Copy Gazebo models, else it will be downloaded from internet without my changes 
cp -r /src/robo_car/world ~/.gazebo/models/

Launch Simulation

Launch a car simulation example based on Prius Hybrid in Sonoma Raceway

# In one terminal launch Gazebo with race world and a car in it
gazebo --verbose src/robo_car/world/robocar.world

# In another terminal launch ros nodes
ros2 launch robo_car robocar_launch.py

Real car

I have a simple car with RaspberryPi and camera. On RaspberryPi I installed Ubuntu Server 22.04 and ROS2 Humble Hawksbill.

If you currently have the 2GB version, you can run all your code on a car. But if you have the 1 GB version for Ubuntu Server + ROS2 it is enough, but you’ll probably be limited in the future if you try to start more than a few nodes and launch files. In that case you may run your ROS2 nodes across multiple machines, your PC and your car:

  • make sure you don’t have a firewall blocking your communications on the network. If you have a firewall, allow UDP multicasting, or disable the firewall at least during your first tests.
  • connect all your machines in the same network. This is very important, otherwise they simply won’t be able to find each other.
  • check if the machines can reach out to each other. First, get the IP address of each machine inside the network by running 'hostname -I.' Then ping each other.
  • on one machine 'ros2 run demo_nodes_cpp talker', on another 'ros2 run demo_nodes_py listener'
  • if there is no communication between machines then read this article.

maybe this was a problem with camera detection when I tried to install Ubuntu on Raspberry

start_x=1

# This needs to be at least 128M for the camera processing, if it's bigger you can just leave it as is.
gpu_mem=128

# You need to commment/remove the existing camera_auto_detect line since this causes issues with OpenCV/V4L2 capture.
#camera_auto_detect=1

To be continued...

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