updated documentation, updated perception_pcl

removed some useless files

README.md

@@ -6,10 +6,10 @@
 
 # Introduction
 
-Welcome! This is an open source self-driving development platform aimed for rapid prototyping, deep learning and robotics research. The system currently runs on a modified electric golf cart, but the code could work on a real car as well. Here are our goals:
+Welcome! This is an open source self-driving development platform aimed for rapid prototyping, deep learning, and robotics research. The system currently runs on a modified electric golf cart. Here are our goals:
 
 ### Goals:
-Research and develop a deep learning-driven self-driving car. The vehicle should be able to navigate autonomously between locations within a geofenced area.
+Research and develop a deep learning-driven self-driving car. The vehicle should be able to achieve level 4 autonomy within a geofenced area.
 
 #### The modules in this project.
 
@@ -19,8 +19,7 @@ Research and develop a deep learning-driven self-driving car. The vehicle should
 4. Drive by Wire (DBW)
 5. Localization 🛰️ (currently with GPS)
 6. CARLA simulator integration 
-
-Stereoscopic vision system coming soon...
+7. ZED stereoscopic vision system
 
 For the full documentation of the development process, please visit my website: [www.neilnie.com](https://www.neilnie.com)
 
@@ -110,30 +109,6 @@ Furthermore, we are relying on OSM (Open Street Map) data for navigation. OSM ma
 
 Coming soon...
 
-# What's next?
-
-#### Phase 1
-
-We have completed phase 1 of the development process, which mainly includes:
-
-- Drive-by-wire system.
-- Autonomous steering system with deep learning
-- Basic obstacle avoidance system using segmentation & detection
-
-As you might have realized, all of these above are focused on computer vision and deep learning. Currently, the vehicle can navigate autonomously in a controlled outdoor environment for about 1000 feet, swiftly avoiding obstacles and stopping for pedistrians.
-
-#### Phase 2
-
-For the second phase of the development process, we will focus on making the system safer and more reliable. Basic plans include:
-
-- Implement a localization system.
-- Write a path planner.
-- Collect more data in our geofenced enviroment. ✅
-- Improve the computer hardware. ✅
-- Improve the sensor system.
-
-We are keeping track of all our progress here [CHECKLIST](./CHECKLIST.md). 
-
 # Contact / Info
 If you are interested in the detailed development process of this project, you can visit Neil's blog at [neilnie.com](https://neilnie.com) to find out more about it. Neil will make sure to keep you posted about all of the latest development on the club.
 

ros/src/perception_pcl/.gitignore

@@ -0,0 +1 @@
+*.pyc

ros/src/perception_pcl/.travis.sh

@@ -0,0 +1,89 @@
+#!/bin/bash
+
+set -e
+
+function travis_time_start {
+    set +x
+    TRAVIS_START_TIME=$(date +%s%N)
+    TRAVIS_TIME_ID=$(cat /dev/urandom | tr -dc 'a-z0-9' | fold -w 8 | head -n 1)
+    TRAVIS_FOLD_NAME=$1
+    echo -e "\e[0Ktraivs_fold:start:$TRAVIS_FOLD_NAME"
+    echo -e "\e[0Ktraivs_time:start:$TRAVIS_TIME_ID"
+    set -x
+}
+function travis_time_end {
+    set +x
+    _COLOR=${1:-32}
+    TRAVIS_END_TIME=$(date +%s%N)
+    TIME_ELAPSED_SECONDS=$(( ($TRAVIS_END_TIME - $TRAVIS_START_TIME)/1000000000 ))
+    echo -e "traivs_time:end:$TRAVIS_TIME_ID:start=$TRAVIS_START_TIME,finish=$TRAVIS_END_TIME,duration=$(($TRAVIS_END_TIME - $TRAVIS_START_TIME))\n\e[0K"
+    echo -e "traivs_fold:end:$TRAVIS_FOLD_NAME"
+    echo -e "\e[0K\e[${_COLOR}mFunction $TRAVIS_FOLD_NAME takes $(( $TIME_ELAPSED_SECONDS / 60 )) min $(( $TIME_ELAPSED_SECONDS % 60 )) sec\e[0m"
+    set -x
+}
+
+# Default configuration
+test "$NOT_TEST_INSTALL" = "" && export NOT_TEST_INSTALL=false
+
+# Mainly for https://github.com/ros-perception/perception_pcl/pull/197#issuecomment-386056906
+export DEBIAN_FRONTEND=noninteractive
+
+apt-get update -qq && apt-get install -qq -y -q wget sudo lsb-release gnupg # for docker
+
+# Setup ccache
+apt-get install -qq -y -q ccache
+export PATH=/usr/lib/ccache:$PATH
+
+travis_time_start setup.before_install
+#before_install:
+# Define some config vars.
+# Install ROS
+sudo sh -c "echo \"deb http://packages.ros.org/ros-shadow-fixed/ubuntu `lsb_release -cs` main\" > /etc/apt/sources.list.d/ros-latest.list"
+wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
+sudo apt-get update -qq
+# Install ROS
+sudo -E apt-get install -qq -y python-catkin-pkg python-catkin-tools python-rosdep python-wstool ros-$ROS_DISTRO-catkin
+source /opt/ros/$ROS_DISTRO/setup.bash
+# Setup for rosdep
+sudo rosdep init
+rosdep update
+travis_time_end
+
+travis_time_start setup.install
+# Create a catkin workspace with the package under test.
+#install:
+mkdir -p ~/catkin_ws/src
+
+# Add the package under test to the workspace.
+cd ~/catkin_ws/src
+ln -s $CI_SOURCE_PATH . # Link the repo we are testing to the new workspace
+travis_time_end
+
+travis_time_start setup.before_script
+# Install all dependencies, using wstool and rosdep.
+# wstool looks for a ROSINSTALL_FILE defined in before_install.
+#before_script:
+# source dependencies: install using wstool.
+cd ~/catkin_ws/src
+wstool init
+wstool up
+
+# package depdencies: install using rosdep.
+cd ~/catkin_ws
+rosdep install -q -y -r --from-paths src --ignore-src --rosdistro $ROS_DISTRO --os $DOCKER_IMAGE
+travis_time_end
+
+travis_time_start setup.script
+# Compile and test.
+#script:
+source /opt/ros/$ROS_DISTRO/setup.bash
+cd ~/catkin_ws
+catkin build -p1 -j1
+catkin run_tests -p1 -j1
+catkin_test_results --all build
+if [ "$NOT_TEST_INSTALL" != "true" ]; then
+  catkin clean -b --yes
+  catkin config --install
+  catkin build -p1 -j1
+fi
+travis_time_end

ros/src/perception_pcl/.travis.yml

@@ -0,0 +1,32 @@
+sudo: false
+dist: trusty
+language: generic
+services:
+  - docker
+cache: ccache
+env:
+  matrix:
+    # Test the target distro.
+    - ROS_DISTRO=melodic DOCKER_IMAGE=debian:stretch
+    - ROS_DISTRO=melodic DOCKER_IMAGE=ubuntu:artful
+    - ROS_DISTRO=melodic DOCKER_IMAGE=ubuntu:bionic
+    # To test backward compatibility for users who build from source.
+    - ROS_DISTRO=lunar DOCKER_IMAGE=debian:stretch NOT_TEST_INSTALL=true
+    - ROS_DISTRO=lunar DOCKER_IMAGE=ubuntu:xenial NOT_TEST_INSTALL=true
+    - ROS_DISTRO=kinetic DOCKER_IMAGE=debian:jessie NOT_TEST_INSTALL=true
+    - ROS_DISTRO=kinetic DOCKER_IMAGE=ubuntu:xenial NOT_TEST_INSTALL=true
+    - ROS_DISTRO=indigo DOCKER_IMAGE=ubuntu:trusty NOT_TEST_INSTALL=true
+# Install system dependencies, namely ROS.
+before_install:
+  # Define some config vars.
+  - export CI_SOURCE_PATH=$(pwd)
+  - export REPOSITORY_NAME=${PWD##*/}
+script:
+  - echo "Testing branch $TRAVIS_BRANCH of $REPOSITORY_NAME"
+  - docker run --rm -i -v $CI_SOURCE_PATH:$CI_SOURCE_PATH -v $HOME:$HOME -e "CI_SOURCE_PATH=$CI_SOURCE_PATH" -e "HOME=$HOME" -e "ROS_DISTRO=$ROS_DISTRO" -e "ROS_PARALLEL_JOBS=$ROS_PARALLEL_JOBS" -e "DOCKER_IMAGE=$DOCKER_IMAGE" -t $DOCKER_IMAGE sh -c "cd $CI_SOURCE_PATH; ./.travis.sh"
+after_failure:
+  - find ${HOME}/.ros/test_results -type f -exec echo "== {} ==" \; -exec cat {} \;
+  - for file in ${HOME}/.ros/log/rostest-*; do echo "=== $file ==="; cat $file; done
+branches:
+  only:
+    - /.*-devel$/