This is the project repo for the final project of the Udacity Self-Driving Car Nanodegree: Programming a Real Self-Driving Car. For more information about the project, see the project introduction here.
Please use one of the two installation options, either native or docker installation.
Be sure that your workstation is running Ubuntu 16.04 Xenial Xerus or Ubuntu 14.04 Trusty Tahir. Ubuntu downloads can be found here.
If using a Virtual Machine to install Ubuntu, use the following configuration as minimum:
- 2 CPU
- 2 GB system memory
- 25 GB of free hard drive space
The Udacity provided virtual machine has ROS and Dataspeed DBW already installed, so you can skip the next two steps if you are using this.
Follow these instructions to install ROS
- Use this option to install the SDK on a workstation that already has ROS installed: One Line SDK Install (binary)
Download the Udacity Simulator.
Build the docker container
docker build . -t capstone
Run the docker file
docker run -p 4567:4567 -v $PWD:/capstone -v /tmp/log:/root/.ros/ --rm -it capstone
To set up port forwarding, please refer to the "uWebSocketIO Starter Guide" found in the classroom (see Extended Kalman Filter Project lesson).
- Clone the project repository
git clone https://github.com/udacity/CarND-Capstone.git
- Install python dependencies
cd CarND-Capstone pip install -r requirements.txt
- Make and run styx
cd ros catkin_make source devel/setup.sh roslaunch launch/styx.launch
- Run the simulator
Real world testing
- Download training bag that was recorded on the Udacity self-driving car.
- Unzip the file
- Play the bag file
rosbag play -l traffic_light_bag_file/traffic_light_training.bag
- Launch your project in site mode
cd CarND-Capstone/ros roslaunch launch/site.launch
- Confirm that traffic light detection works on real life images
Other library/driver information
requirements.txt, here is information on other driver/library versions used in the simulator and Carla:
Specific to these libraries, the simulator grader and Carla use the following:
We are working on a fix to line up the OpenCV versions between the two.