TNEX

TNEX is a Python program that can drive a vehicle in the CARLA simulator. It employs similar techniques used in state-of-the-art self-driving cars, howbeit with simpler algorithms. The goal of this project is to learn how autonomous vehicles work by building one.

Features

Cruise Control

TNEX controls the motion of the ego vehicle along its longitudinal axis (i.e gas and brakes) using PID while lateral control (steering) is done manually.

See demo video and ROS bag (2.7GB) for more info.

Lane Keep Assist

[WIP]

Point-to-point Navigation

[WIP]

Architecture

Setup

Tested with Python 3.7 and Carla 0.9.11

CARLA

• Install CARLA https://carla.readthedocs.io/en/latest/start_quickstart/#a-debian-carla-installation

• Run CARLA

cd /opt/carla-simulator
./CarlaUE4.sh -opengl -fps=30

ROS

• Install ROS Noetic http://wiki.ros.org/noetic/Installation/Ubuntu

• Build TNEX

source /opt/ros/noetic/setup.bash
cd path/to/tnex
catkin_make

• Change workspace

source ./devel/setup.bash # you may save this in your ~/.bashrc

• Install dependencies

sudo apt install \
    ros-noetic-rosbridge-suite \
    ros-noetic-cv-bridge \
    ros-noetic-ros-numpy \
    python3.7-tk # or python3-tk
mkvirtualenv -p python3.7 tnex # optional (PS: have virtualenv wrapper installed)
pip install -r requirements.txt

• Run TNEX

roslaunch tnex_driver main.launch

While running TNEX, you can record all the ROS topics with rosbag record -o data/rosbags/tnex -a.

Webviz (optional)

• Pull Docker image

docker pull cruise/webviz

• Run Webviz

docker run --name tnex-webviz -p 8080:8080 cruise/webviz

You can make use of this layout config.