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.
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:
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
Download the Udacity Simulator.
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
To set up port forwarding, please refer to the instructions from term 2
Clone the project repository
git clone https://github.com/udacity/CarND-Capstone.git
Install python dependencies
cd CarND-Capstone
pip install -r requirements.txt
Make and run styx
cd ros
catkin_make
source devel/setup.sh
roslaunch launch/styx.launch
EVENTLET_MONKEY_PATCH=true roslaunch launch/styx.launch
4. Run the simulator
### Real world testing
1. Download [training bag](https://s3-us-west-1.amazonaws.com/udacity-selfdrivingcar/traffic_light_bag_file.zip) that was recorded on the Udacity self-driving car.
2. Unzip the file
```bash
unzip traffic_light_bag_file.zip
rosbag play -l traffic_light_bag_file/traffic_light_training.bag
cd CarND-Capstone/ros
roslaunch launch/site.launch