# Waypoint_Navigation

**Repository Path**: zt1026/Waypoint_Navigation

## Basic Information

- **Project Name**: Waypoint_Navigation
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 2
- **Created**: 2023-04-04
- **Last Updated**: 2023-04-04

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# Waypoint Navigation by EuROS team
Udacity Carla (2016 Lincoln MKZ) self-driving car waypoint navigation project

| NAME  	|E-MAIL   	|SLACK   	|TIME ZONE   	|COUNTRY   	| ROLE  	| 
|---	|---	|---	|---	|---	|---	|
|Nikolay Dimitrov 	|nikidimi@gmail.com   	|@nikidimi   	|UTC+2  	|BGR   	| | 
|Brian Holt   	| bdholt1@gmail.com  	| @bdholt1  	|UTC+1   	| GBR	| | 
|Sangxia Huang   	| huang.sangxia@gmail.com  	| @sangxia  	| UTC+2  	| SWE  	| | 
|Luca Massaron   	|lucamassaron@gmail.com   	| @lmassaron  	| UTC+2  	| ITA  	|   	| 
|Peter Skvarenina   	|peter.skvarenina@gmail.com   	| @squared9  	| UTC+2  	| GER  	| [LEAD]| 

This is the project repo for the final project of the Udacity Self-Driving Car Nanodegree: Programming a Real Self-Driving Car. For more information about the project, see the project introduction [here](https://classroom.udacity.com/nanodegrees/nd013/parts/6047fe34-d93c-4f50-8336-b70ef10cb4b2/modules/e1a23b06-329a-4684-a717-ad476f0d8dff/lessons/462c933d-9f24-42d3-8bdc-a08a5fc866e4/concepts/5ab4b122-83e6-436d-850f-9f4d26627fd9).

### Installation 

* Be sure that your workstation is running Ubuntu 16.04 Xenial Xerus or Ubuntu 14.04 Trusty Tahir. [Ubuntu downloads can be found here](https://www.ubuntu.com/download/desktop). 
* If using a Virtual Machine to install Ubuntu, use the following configuration as minimum:
  * 2 CPU
  * 2 GB system memory
  * 25 GB of free hard drive space
  
  The Udacity provided virtual machine has ROS and Dataspeed DBW already installed, so you can skip the next two steps if you are using this.

* Follow these instructions to install ROS
  * [ROS Kinetic](http://wiki.ros.org/kinetic/Installation/Ubuntu) if you have Ubuntu 16.04.
  * [ROS Indigo](http://wiki.ros.org/indigo/Installation/Ubuntu) if you have Ubuntu 14.04.
* [Dataspeed DBW](https://bitbucket.org/DataspeedInc/dbw_mkz_ros)
  * Use this option to install the SDK on a workstation that already has ROS installed: [One Line SDK Install (binary)](https://bitbucket.org/DataspeedInc/dbw_mkz_ros/src/81e63fcc335d7b64139d7482017d6a97b405e250/ROS_SETUP.md?fileviewer=file-view-default)
* Download the [Udacity Simulator](https://github.com/udacity/CarND-Capstone/releases/tag/v1.2).

### Usage

1. Clone the project repository
```bash
git clone https://github.com/EuROS-SDC17/Waypoint_Navigation.git
```

2. Install python dependencies
```bash
cd Waypoint_Navigation
pip install -r requirements.txt
```
3. Make and run styx
```bash
cd ros
catkin_make
source devel/setup.sh
roslaunch launch/styx.launch
```
4. Run the simulator
```bash
unzip linus_sys_int.zip
cd linus_sys_int
chmod +x system_integration.x86_64
./system_integration.x86_64
```

### Real world testing
1. Download [training bag](https://drive.google.com/file/d/0B2_h37bMVw3iYkdJTlRSUlJIamM/view?usp=sharing) that was recorded on the Udacity self-driving car
2. Unzip the file
```bash
unzip traffic_light_bag_files.zip
```
3. Play the bag file
```bash
rosbag play -l traffic_light_bag_files/loop_with_traffic_light.bag
```
4. Launch your project in site mode
```bash
cd CarND-Capstone/ros
catkin_make
source devel/setup.sh
roslaunch launch/site.launch
```