TrafficLightTask

ROS packages for very simple traffic light processing.

Details

Repository contains 3 packages:

• traffic_light_fetcher - ROS package for simple traffic light fetching. Contains library with simple traffic light detection based on Hough transform and traffic light fetcher node that uses it.

• traffic_light_analysis - ROS package for analyzing the traffic light fetching node results.

• traffic_light_processing - ROS meta-package for launching full traffic light processing pipeline including traffic light fetcher and traffic light analysis.

Building

For building traffic light processing packages from this repo you need:

• Create ROS workspace:

  mkdir traffic_light_workspace && cd traffic_light_workspace
  mkdir src && cd src
  

• Clone this repository to src directory:

  git clone https://github.com/smk-robotics/TrafficLightTask.git
  

• Build all packages using catkin_make:

  cd ..
  catkin_make -DCMAKE_BUILD_TYPE=Release -DCATKIN_ENABLE_TESTING=OFF
  

Running

To launch full traffic light processing pipeline you need to run:

source devel/setup.sh
roslaunch traffic_light_processing full_traffic_light_processing.launch

If you want to launch traffic light fetcher ROS node standalone run:

source devel/setup.sh
roslaunch traffic_light_fetcher traffic_light_fetcher.launch 

If you want to launch traffic light analysis ROS node standalone run:

source devel/setup.sh
roslaunch traffic_light_analysis traffic_light_analysis.launch

Testing

If you want to run tests, you need to build packages with CATKIN_ENABLE_TESTING=ON (it is ON by default in ROS) and run ctest:

catkin_make
cd build
ctest --verbose

License

GNU General Public License v3.0.

Maintainers

• Kirill Smirnov [email protected]