An Intelligent Self-driving Truck System For Highway Transportation

Last update: Jul 13, 2022

Related tags

Deep Learning IITS

Overview

Inceptio Intelligent Truck System

An Intelligent Self-driving Truck System For Highway Transportation

Note

The code is still in development.

OS requirement

Ubuntu Bionic (18.04 LTS)

Install ROS 2 (Eloquent Elusor)

Please refer to https://index.ros.org/doc/ros2/Installation/Eloquent/Linux-Install-Debians/

Setup Locale

sudo apt install -y locales
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8

Setup Sources

sudo apt update && sudo apt install curl gnupg2 lsb-release
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

sudo sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'

Install ROS 2 packages

sudo apt update

sudo apt install ros-eloquent-desktop

Environment setup

Add the following line into your ~/.bashrc

source /opt/ros/eloquent/setup.bash

then

source ~/.bashrc

Install argcomplete (optional but recommanded)

sudo apt install -y python3-pip
pip3 install -U argcomplete

Install colcon

Please refer to https://index.ros.org/doc/ros2/Tutorials/Colcon-Tutorial/

sudo apt install python3-colcon-common-extensions

Install ad_map_access

Please refer to https://ad-map-access.readthedocs.io/en/latest/BUILDING/

sudo apt-get install libboost-all-dev libpugixml-dev libproj-dev libgtest-dev libpython-dev libosmium2-dev liblapacke-dev libyaml-cpp-dev castxml

sudo apt install -y python-pip

pip install --user pygccxml pyplusplus xmlrunner

Create workspace

Setup folder structure

mkdir -p ~/code/iits/iits_ws
cd ~/code/iits/iits_ws

Get the code

git clone https://github.com/InceptioResearch/IITS.git

Setup build environment

Perform a trival build first, this step generate build, install and log directories in the workspace.

colcon build --packages-select

Add the following line into your ~/.bashrc

source ~/code/iits/iits_ws/install/setup.bash

then

source ~/.bashrc

Build

cd ~/code/iits/iits_ws/

colcon build

Install Carla (Optional)

Carla is used in the visualization node Please refer to https://carla.readthedocs.io/en/latest/start_quickstart/#carla-installation

Install rosbag2 (Optional)

sudo apt-get install ros-eloquent-ros2bag ros-eloquent-rosbag2-storage-default-plugins

To record planner related topics

./src/scripts/record.sh

To record planner related debug topics (without planning results)

./src/scripts/record_debug.sh

To playback the recorded rosbag

ros2 bag play <rosbag_directory>

Quick start

run planning with truck sim

ts-lm-cli
./src/scripts/start_trucksim.sh

run scenario

ros2 launch scenario_runner run_jinan.py

run carla bridge

cd /to/your/carla/folder
./CarlaUE4.sh
ros2 run carla_bridge run_carla_bridge

run trucksim bridge (please make sure that you have installed trucksim on you computer)

ts-lm-cli
ros2 run trucksim_bridge trucksim_bridge_node

An Intelligent Self-driving Truck System For Highway Transportation

Related tags

Overview

Inceptio Intelligent Truck System

Note

OS requirement

Install ROS 2 (Eloquent Elusor)

Setup Locale

Setup Sources

Install ROS 2 packages

Environment setup

Install colcon

Install ad_map_access

Create workspace

Setup folder structure

Get the code

Setup build environment

Build

Install Carla (Optional)

Install rosbag2 (Optional)

Quick start

run planning with truck sim

run scenario

run carla bridge

run trucksim bridge (please make sure that you have installed trucksim on you computer)

Owner

InceptioResearch

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