Skip to content

usnistgov/NIST_AV_AI

Folders and files

NameName
Last commit message
Last commit date

Latest commit

 

History

12 Commits
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 

Repository files navigation

NIST Autonomous Vehicle AI Codebase for Nuvo PC

ROS-based architecture with dual-component behavior

1. Subscriber - consumes input data from multiple sources

  • Real-vehicle data and simulated data for testing
    • Consume real-vehicle sensor data for testing
    • Consume synthetic image data from CARLA simulation tool to efficiently mimic different real-world conditions
    • Use rosbags when appriate with vehicle sensor data to emulate vehicle integration.

2. Publisher - publishes processed data from AI models to real vehicle via on-board PC

  • Annotated AI perception output
  • Real-vehicle control based on AI perception output (work in progress)

Package name: cv_app

Instructions:

1. Clone Git:
    1.1: git clone https://github.com/usnistgov/NIST_AV_AI.git cv_app

2. Install dependecies:
    2.1: pip install ultralytics

3. Change into the ros working directory

4. Running Publisher:
    4.1: colcon build --packages-select cv_app
    4.2: source install/local_setup.bash
    4.3: ros2 run cv_app sensor_publisher

5. Running Subscriber
    5.1: source install/local_setup.bash
    5.2: ros2 run cv_app sensor_subscriber

About

NIST AV Development AI Codebase

Resources

Stars

Watchers

Forks

Releases

No releases published

Packages

No packages published

Languages