一个基于ROS框架的开源全栈软件，用于自动驾驶应用

一个基于ROS框架的开源全栈软件，用于自动驾驶应用

Project Aslan

An open-source full-stack software based on ROS framework, for self-driving applications. Targeting to facilitate the research in autonomous driving projects for low-speed applications in urban environments. This software comes with a built-in Gazebo based simulation, an end-to-end self-driving software and a user-friendly GUI to facilitate launching of the software. Used for trials on real-world automated vehicles.

Features and Deployment support:

Graphics User Interface (GUI) with integrated ROS toolsDocker and Source Code installationVehicle Model basic urdf for RVIZMultiple Sensors DriversNormal Distribution Transform (NDT)* for localization and mappingVoxel Grid and Ground Removal point cloud filteringPath Planning* based on waypointsObject Detection using LiDAR and RadarRoute Planning* Algorithm based on A* PlannerHigh-level supervisor/monitor nodeVehicle Interface using SocketCANGazebo simulation model and worlds: 3 ways of controlling the robotComprehensive documentation of the source code in the repo and inside the GUIOnline tutorialsQuick start resources: rosbag, point cloud map and waypoints csv

*Originally suggested at Autoware 1.10.0. These packages have been configured and modified significantly to fit the requirements of Project ASLAN.

Recommended System

- Processor : Intel Core i7 or greater

- RAM size: 32G

Requirements

- Ubuntu 16.04 LTS

- ROS Kinetic ros-kinetic-desktop-full

- Catkin Command Line Tools catkin_tools

Getting Started

Installation

1. Allow software updates

Search for Software & Updates and click on 'Other Software'. Tick the boxes allowing software updates from 'canonical partners' and 'source code'. Press reload and enter your sudo password

2. Install ROS Kinetic Desktop Full

For more information please visit here

Setup your computer to accept software from packages.ros.org.

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

Setup your keys

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

Update debian package index

sudo apt-get update

Install ROS Kinetic Desktop Full

sudo apt-get install ros-kinetic-desktop-full

Set up your environment

echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrcsource ~/.bashrc

Install additional tools

sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential python-catkin-tools

Initialise rosdep

sudo rosdep initrosdep update

3. Clone the Project ASLAN repository

git clone --recurse-submodules https://github.com/project-aslan/Aslan.git# if you haven't initialized and updated the submodules with --recurse-submodules when cloning, do:cd Aslan/git submodule update --init --recursive

4. Install additional dependencies

cd Aslanrosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO

5. Initialise your catkin workspace

catkin init

6. Build your workspace

From the root of your catkin workspace, run

catkin_make

If you have previously built your workspace with catkin build: Either clean your workspace with catkin clean and rebuild with catkin_make

Running the software

To start the Project ASLAN GUI, simply execute the bash script:

./run

Additional Resources

Project Aslan Dockerhub: projaslan/aslan

Project Aslan Website: project-aslan.org

Quick Start Resources: rosbag, point cloud map and waypoints csv

Online Tutorials: Youtube Channel

Disclaimer

A dedicated, trained and attentive safety driver must always be present in the driver's seat at all times and in all environments, monitoring the vehicle. THIS SOFTWARE IS FOR RESEARCH PURPOSES ONLY. YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS. NO WARRANTY EXPRESSED OR IMPLIED. ACCESS TO AND USE OF THIS SOFTWARE IS AT YOUR OWN RISK AND RESPONSIBILITY.

License

Aslan Software is licensed under Apache 2 License

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