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README.md

ICT60 RACECAR - TEAM806

DEMO

Road segmentation and Traffic sign detection

ALGORITHMS

  • For road segmentation, we use mainly floodfill and watershed algorithm. As you can see in the video, these algorithms do well in road segmentation and also noise removal.

  • For traffic sign detection, we detect the interested area using color segmentation (HSV color space) and then pass the result into a SVM (Support Vector Machine) classfier with HOG (Histogram of oriented gradients) features.

ENVIRONMENT REQUIREMENT

INSTALL

  • Step 1: Ensure you have installed all the environment requirement
  • Step 2: Clone the source code repository
  • Step 3: Initialize the workspace by the command:
npm run init-workspace
  • Step 4: Add this line to ~/.bashrc file to active the main workspace by default (or you have to run it each time you open a new tab).
source <path-to-repo-folder>/main_ws/devel/setup.bash
  • Step 5: Download data files
    • Download svm file for Traffic Sign Detector 2 (optional): npm run download-svm-file-trafficsign-detector-2
    • Download all simulators (maybe large): npm run download-all-simulators
    • Download simulator 4 only: npm run download-simulator4
    • Download simulator 3 only: npm run download-simulator4
    • Download simulator 2 only: npm run download-simulator4
    • Download simulator 1 only: npm run download-simulator4

RUN THE PROJECT

Normal run

Following are the steps of a normal run

  • Step 1: Start ROS server: Open a new terminal tab and type:
npm run ros-server
  • Step 2: Re-Build the source code:
npm run make
  • Step 3: Run ROS server: Open a new terminal tab and type:
npm run ros-server
  • Step 4: Run Racecar node Open a new terminal tab and type:
npm run racecar
  • Step 5: Run Simulator: Open a new terminal tab and type:
npm run simulator4

You can change the simulator (4) with a value (1-4) to start other simulator versions.

After that enter the configuration into simulator and run it. The value of Team for simulator is team806.

RUNNING COMMANDS

  • npm run init-workspace : Initialize the workspace
  • npm run ros-server: Start ROS server
  • npm run make: Build the project
  • npm run make-debug: Build the project with debug info
  • npm run racecar: Run the racecar node
  • npm run racecar-debug: Run the racecar node with debug info
  • npm run racecar-launch: Run the racecar node using launch file
  • npm run simulator1: Run simulator v1
  • npm run simulator2: Run simulator v2
  • npm run simulator3: Run simulator v3
  • npm run simulator4: Run simulator v4
  • npm run image_viewer: Run image viewer (for debuging)
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