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