autonomus_car_sim_base_ros2

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autonomus_car_sim_base_ros2

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This is base simulation for autonomus car projects using Yolov5 and OpenCV. This package tested in ROS2 Galactic

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// repository documentation

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# autonomus_car_sim_base_ros2
This is base simulation for autonomus car projects using Yolov5 and OpenCV. This package tested in ROS2 Galactic.
Package contains basic lane_tracking and yolov5 based scripts. Our team still devoloping the code i cant post
the last version because we are getting ready for a COMPETATION make sure to fallow us.

# Install ROS2
This package tested in ROS2 Galactic but u can use it with other ROS2 distros after making minimal changes.
  https://docs.ros.org/en/galactic/Installation.html

# Clone repo
-> Create a workspace
```bash
  mkdir -p ros2_ws/src
  cd ros2_ws
  colcon build
  cd src
  git clone https://github.com/neraiv/autonomus_car_sim_base_ros2.git
  cd ..
  colcon build
```

# Install Yolov5 requiremnts 
1) Simply navigate to ../autonomus_car_sim_base_ros2/yolov5 directory and

pip install -r requirements.txt 
 -> Some libraries may not install properly. Install them manually.
 
2) create weights/ directory inside the package and add ur Yolov5 model. Here is a model that contains some of the traffic signs https://drive.google.com/file/d/1adUnZ5WkgP-Z_jP-oTC_gWRkPe5M6iYk/view?usp=share_link.

# Gazebo Models
This package has a car model, a race field and 17 traffic signs. Gazebo Sensors can't see gazebo models autside gazebo workspace, so to be
able to see objects there are 2 options add gazebo model path to Gazebo Model Path using .bashrc (or equal) or add models into .gazebo folder
located in Home. 
-> Navigate into ../autonomus_car_sim_base_ros2/gazebo_models directory and cut car_dae and models then paste them into .gazebo folder.
-> Gazebo creates .gazebo folder autmatically after creating first model in Gazebo.

# Now Everything Should be Ready
-> İnstall libraries if anyone missing :(

Open Three Terminals, one for simulation - one for lane_tracking and one for yolo

source the workspace on every terminal
```bash
  source install/setup.bash
```

First launch the Sim
```bash
  ros2 launch autonomus_car_sim_base_ros2 autonom_sim_base.launch.py
```

Start Yolo
```bash
  ros2 run autonomus_car_sim_base_ros2 gazebo_yolo.py
```

Start Lane Tracking
```bash
  ros2 run autonomus_car_sim_base_ros2 gazebo_lane_tracking.py
```

autonomus_car_sim_base_ros2

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