Smart Crossing Robot Assistant for Pedestrians

Overview

The Smart Crossing Robot Assistant for Pedestrians is a ROS 2-based project designed to enhance pedestrian safety and convenience at crosswalks. It integrates various sensors and controllers to manage traffic, detect pedestrians, and ensure smooth operation of crossing systems.

Installation

Follow these steps to set up the project:

1. Make a new directory

   mkdir scrap_ws
   cd scrap_ws
   

2. Clone the Repository

   Clone the repository along with its submodules:

   git clone https://github.com/Iredele/scrap_ws.git --recurse-submodules ./src
   

3. Navigate to the source directory

   cd src

4. Install Dependencies Use rosdep to install all necessary dependencies:

   rosdep install --from-paths src --ignore-src -r -y

5. Build the Project Change directory back to the scrap_ws and Build the workspace using colcon:

   colcon build --symlink-install

6. Setup the Camera Install the required packages for camera support:

   sudo apt install libraspberrypi-bin v4l-utils ros-humble-v4l2-camera

Note: Ensure your user is added to the video group to grant necessary permissions for camera access. You can add your user to the group with:

sudo usermod -aG video $USER

Log out and log back in for the changes to take effect.

Launching the Project

After successfully building the project, follow these steps to launch the system:

1. Source the Workspace

Source the ROS 2 setup script to overlay the workspace:

source install/setup.bash

2. Launch the Nodes Run the main launch files:

ros2 launch scrap_pkg launch_scrap.launch.py
ros2 launch scrap_pkg sensors.launch.py

Note: This launches the controller manager running the differential drive controller, as well as the LiDAR and camera sensors.

Developed by Dayo Iredele.