ROS AUTONOMOUS VEHICLES 101

1. Introduction

  • roslaunch catvehicle_tests_cmdvel_unsafetest.launch
dbw_mkz_ros framework: https://bitbucket.org/DataspeedInc/dbw_mkz_ros
CatVehicle TestBed: https://cps-vo.org/group/CATVehicleTestbed

2. Sensors

A. Laser

  • rostopic info /catvehicle/front_laser_points

  • rosrun rviz rviz --> 설정

B. Camera

  • rostopic list | grep camera --> image_raw_front
  • rviz 이용 방법
  • rosrun rqt_image_view rqt_image_view 이용 방법

C. GPS

  • rostopic info /fix : latitud, longitud, altitude

  • rostopic info /fix_velocity : Speed

  • rviz이용 방법, 설정

3. GPS Navigation

4. Obstacles and Security

  • 안전한 차량을 위해서는 다음 두가지가 있어야함

    • Obstacle Detection : 본 강의 에서는 Lager를 이용하여 탐지
    • System Failure Measures : 여러 방법이 있지만, 본 강의에서는 DeadManSwitch만 다룸

  • Control the car movement data flow

    • DeadMansSwitch : when controle communication is lost the autonomous vehicles have to move to a safe state.
    • ObstacleDetection : When an obstacle is detected the vehicle must stop until the obstacle is removed.

5. CAN-Bus

-rqt_graph

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