RoadSideTrack

vision-based lane & side tracking algorithm written in CPP with TensorRT using fscn model for ROS.

Installation

Clone this repository into your catkin workspace and execute standard build:

catkin_make

Usage

Engine

Two default trained engine is provided in engines/ folder. If your want to use your own engine, please place the engine in the above mentioned folder and edit launch/front.launch:

<launch>
    <node pkg="side_track" type="side_track_detect" name="side_track_detect" output="screen">
        <param name="engine" type="str" value="path_to_your_engine"/>
        ...
    </node>
    ...
</launch>

To train your own engine, please use this repository:

Run

Please specify the image input node in the launch/front.launch file, then you can launch with the following command:

roslaunch side_track front.launch

Echo to see the output message:

rostopic echo /front_msgs