yu-iskw / CarND-Capstone

MIT License
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Udacity's Self-Driving Car Engineer Nanodegree Program

Team: YDriving

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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

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

Launch with eventlet.monkey_patch()

If the CPU resource is short, it would help us with running it.

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
  1. Play the bag file
    rosbag play -l traffic_light_bag_file/traffic_light_training.bag
  2. Launch your project in site mode
    cd CarND-Capstone/ros
    roslaunch launch/site.launch
  3. Confirm that traffic light detection works on real life images