ROS 2 API

This directory hosts ROS 2 API (a meta-package), which supports modular algorithm development targetted towards autonomous driving. It uses client libraries for Python and C++, and can be therefore exploited by the users to develop their algorithms flexibly.

DEPENDENCIES

AutoDRIVE Devkit's ROS 2 API has the following dependencies (tested with Python 3.8.10):

• Websocket-related dependencies for communication bridge between AutoDRIVE Simulator and AutoDRIVE Devkit (version sensitive):

  Package	Tested Version
  eventlet	0.33.3
  Flask	1.1.1
  Flask-SocketIO	4.1.0
  python-socketio	4.2.0
  python-engineio	3.13.0
  greenlet	1.0.0
  gevent	21.1.2
  gevent-websocket	0.10.1
  Jinja2	3.0.3
  itsdangerous	2.0.1
  werkzeug	2.0.3

  $ pip3 install eventlet==0.33.3
  $ pip3 install Flask==1.1.1
  $ pip3 install Flask-SocketIO==4.1.0
  $ pip3 install python-socketio==4.2.0
  $ pip3 install python-engineio==3.13.0
  $ pip3 install greenlet==1.0.0
  $ pip3 install gevent==21.1.2
  $ pip3 install gevent-websocket==0.10.1
  $ pip3 install Jinja2==3.0.3
  $ pip3 install itsdangerous==2.0.1
  $ pip3 install werkzeug==2.0.3

• Generic dependencies for data processing and visualization (usually any version will do the job):

  Package	Tested Version
  attrdict	2.0.1
  numpy	1.13.3
  pillow	5.1.0
  opencv-contrib-python	4.5.1.48

  $ pip3 install attrdict
  $ pip3 install numpy
  $ pip3 install pillow
  $ pip3 install opencv-contrib-python

SETUP

1. Clone AutoDRIVE-Devkit branch of the AutoDRIVE repository.

   $ git clone --single-branch --branch AutoDRIVE-Devkit https://github.com/Tinker-Twins/AutoDRIVE.git

2. Move the autodrive_ros2 ROS 2 meta-package to the source space (src) of your ROS 2 workspace.

   $ mv ~/AutoDRIVE-Devkit/autodrive_ros2 ~/ros2_ws/src/

3. Build the packages.

   $ cd ~/ros2_ws
   $ colcon build

USAGE

Usage with Nigel

• Bringup:

  • Headless Mode Bringup:

    $ ros2 launch autodrive_nigel simulator_bringup_headless.launch.py

    [OR]
  • RViz Mode Bringup:

    $ ros2 launch autodrive_nigel simulator_bringup_rviz.launch.py

• Teleoperation:

  $ ros2 run autodrive_nigel teleop_keyboard

Usage with F1TENTH

• Bringup:

  • Headless Mode Bringup:

    $ ros2 launch autodrive_f1tenth simulator_bringup_headless.launch.py

    [OR]
  • RViz Mode Bringup:

    $ ros2 launch autodrive_f1tenth simulator_bringup_rviz.launch.py

• Teleoperation:

  $ ros2 run autodrive_f1tenth teleop_keyboard