praveenraj49 / carnd-capstone

SDC System Integration Capstone Project

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.

Native 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

  • ROS Kinetic if you have Ubuntu 16.04.
  • ROS Indigo if you have Ubuntu 14.04.

• Dataspeed DBW

  • Use this option to install the SDK on a workstation that already has ROS installed: One Line SDK Install (binary)

• Download the Udacity Simulator.

Docker Installation

Install Docker

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

Port Forwarding

To set up port forwarding, please refer to the instructions from term 2

Usage

1. Clone the project repository

git clone https://github.com/udacity/CarND-Capstone.git

2. Install python dependencies

cd CarND-Capstone
pip install -r requirements.txt

3. Make and run styx

cd ros
catkin_make
source devel/setup.sh
roslaunch launch/styx.launch

4. Run the simulator

Real world testing

1. Download training bag that was recorded on the Udacity self-driving car.
2. Unzip the file

unzip traffic_light_bag_file.zip

3. Play the bag file

rosbag play -l traffic_light_bag_file/traffic_light_training.bag

4. Launch your project in site mode

cd CarND-Capstone/ros
roslaunch launch/site.launch

5. Confirm that traffic light detection works on real life images

Compiling on Udacity workspace

if you get following error message

CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:76 (find_package):
  Could not find a package configuration file provided by "dbw_mkz_msgs" with
  any of the following names:

    dbw_mkz_msgsConfig.cmake
    dbw_mkz_msgs-config.cmake

  Add the installation prefix of "dbw_mkz_msgs" to CMAKE_PREFIX_PATH or set
  "dbw_mkz_msgs_DIR" to a directory containing one of the above files.  If
  "dbw_mkz_msgs" provides a separate development package or SDK, be sure it
  has been installed.
Call Stack (most recent call first):
  styx/CMakeLists.txt:10 (find_package)


-- Could not find the required component 'dbw_mkz_msgs'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by "dbw_mkz_msgs" with
  any of the following names:

    dbw_mkz_msgsConfig.cmake
    dbw_mkz_msgs-config.cmake

  Add the installation prefix of "dbw_mkz_msgs" to CMAKE_PREFIX_PATH or set
  "dbw_mkz_msgs_DIR" to a directory containing one of the above files.  If
  "dbw_mkz_msgs" provides a separate development package or SDK, be sure it
  has been installed.
Call Stack (most recent call first):
  styx/CMakeLists.txt:10 (find_package)


-- Configuring incomplete, errors occurred!
See also "/home/workspace/CarND-Capstone/ros/build/CMakeFiles/CMakeOutput.log".
See also "/home/workspace/CarND-Capstone/ros/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed

run the following commands

sudo apt-get update
sudo apt-get install -y ros-kinetic-dbw-mkz-msgs
cd /home/workspace/CarND-Capstone/ros
rosdep install --from-paths src --ignore-src --rosdistro=kinetic -y

carnd-capstone's Issues

Error running ros in docker container

Hi Praveen

This is not an issue with your repo. I am trying to run the ROS server as part of my udacity capstone project and wanted to find out if you got this error and get an understanding of your setup.

Error

Traceback (most recent call last):
  File "/usr/local/lib/python2.7/dist-packages/engineio/server.py", line 505, in _trigger_event
    return self.handlers[event](*args)
  File "/usr/local/lib/python2.7/dist-packages/socketio/server.py", line 509, in _handle_eio_message
    self._handle_event(sid, pkt.namespace, pkt.id, pkt.data)
  File "/usr/local/lib/python2.7/dist-packages/socketio/server.py", line 448, in _handle_event
    self._handle_event_internal(self, sid, data, namespace, id)
  File "/usr/local/lib/python2.7/dist-packages/socketio/server.py", line 451, in _handle_event_internal
    r = server._trigger_event(data[0], namespace, sid, *data[1:])
  File "/usr/local/lib/python2.7/dist-packages/socketio/server.py", line 480, in _trigger_event
    return self.handlers[namespace][event](*args)
  File "/capstone/ros/src/styx/server.py", line 44, in control
    bridge.publish_controls(data)
  File "/capstone/ros/src/styx/bridge.py", line 145, in publish_controls
    self.publishers['steering_report'].publish(self.create_steer(steering))
  File "/capstone/ros/src/styx/bridge.py", line 102, in create_steer
    st.steering_wheel_angle_cmd = val * math.pi/180.
AttributeError: 'SteeringReport' object has no attribute 'steering_wheel_angle_cmd'

Here are my steps(Same as the README) -

docker build . -t capstone
docker run -p 4567:4567 -v $PWD:/capstone -v /tmp/log:/root/.ros/ --rm -it capstone
#from within the container, I run
catkin_make
source devel/setup.sh
roslaunch launch/styx.launch

The ros server starts up successfully on port 4567 but when the simulator connects to it I get the above error. Any help will be greatly appreciated.