ROS2 Tutorial: Dummy Self-Driving Vehicles

Installation

make docker # to build the container  
make # to step into to the container 

After running the above, you will be met with a two-pane tmux session.

Running the code

Download the snippet of NuScene dataset:

python data/download_nuscenes.py

In first pane, run:

ros2 launch dummy_sdv drive.launch.py

In second pane, you can run visualization tools, such as:

• rviz2: rviz2

• foxglove: ros2 launch foxglove_bridge foxglove_bridge_launch.xml

Refer to this recording for more information / code walkthrough.

Acknowledgement

This codebase is built on top of these projects. Please check out their amazing work!

• ros2_in_docker
• nuscenes_examples