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AutoDRIVE Devkit

This directory hosts ROS 2 API (a meta-package), which supports modular algorithm development targetted towards autonomous driving. It uses client libraries for Python and C++, and can be therefore exploited by the users to develop their algorithms flexibly.

SETUP

  1. Clone the AutoDRIVE-RoboRacer-Sim-Racing repository.

    $ git clone https://github.com/AutoDRIVE-Ecosystem/AutoDRIVE-RoboRacer-Sim-Racing.git

  2. Give executable permissions to the Python scripts.

    $ cd autodrive_devkit
$ sudo chmod +x *.py

  3. Install the necessary dependencies as mentioned below. AutoDRIVE Devkit's ROS 2 API has the following dependencies (tested with Python 3.8, 3.9 and 3.10):

    • Websocket-related dependencies for communication bridge between AutoDRIVE Simulator and AutoDRIVE Devkit (version sensitive):

      Package Python 3.8 Python 3.9 Python 3.10
      eventlet 0.33.3 0.33.3 0.33.3
      Flask 1.1.1 1.1.1 1.1.1
      Flask-SocketIO 4.1.0 4.1.0 4.1.0
      python-socketio 4.2.0 4.2.0 4.2.0
      python-engineio 3.13.0 3.13.0 3.13.0
      greenlet 1.0.0 1.0.0 1.1.0
      gevent 21.1.2 21.1.2 21.12.0
      gevent-websocket 0.10.1 0.10.1 0.10.1
      Jinja2 3.0.3 3.0.3 3.0.3
      itsdangerous 2.0.1 2.0.1 2.0.1
      werkzeug 2.0.3 2.0.3 2.0.3

    • Generic dependencies for data processing and visualization (usually any version will do the job):

      Package Tested Version
      attrdict 2.0.1
      numpy 1.22.2
      pillow 9.0.1
      opencv-contrib-python 4.10.0.84
      transforms3d 0.4.2

    • Install dependencies using requirements.txt file (use the file specific to your Python version → check using python3 --version):

      $ pip3 install -r requirements_python_3.8.txt # Python 3.8
$ pip3 install -r requirements_python_3.9.txt # Python 3.9
$ pip3 install -r requirements_python_3.10.txt # Python 3.10

    • ROS 2 dependencies for data processing and visualization (usually any version will do the job):

      $ sudo apt install ros-$ROS_DISTRO-tf-transformations
$ sudo apt install ros-$ROS_DISTRO-imu-tools

USAGE

  • Bringup:

    • Headless Mode Bringup: 
      $ ros2 launch autodrive_roboracer bringup_headless.launch.py
      [OR]
    • Graphics Mode Bringup: 
      $ ros2 launch autodrive_roboracer bringup_graphics.launch.py

  • Teleoperation:

    $ ros2 run autodrive_roboracer teleop_keyboard