ROS2 기반 자율주행 SW종합설계 교육

Initial Setting

Installation

sudo apt update
sudo apt upgrade -y
sudo apt install git
sudo apt install python-pip -y
pip install setuptools==58.2.0
sudo pip install pyserial
sudo pip install keyboard
pip install opencv-python
pip install ultralytics

Clone

cd
git clone https://github.com/SKKU-AutoLab-VSW/ROS2-Based-Autonomous-Driving-SW-Camp.git ros2_ws
cd ros2_ws

Build

source /opt/ros/humble/setup.bash
rosdep install -i --from-path src --rosdistro humble -y
colcon build --symlink-install

ROS2 Node Execution

The commands to be executed before running ROS2 nodes.

팀번호 수정하고 Enter

cd ~/ros2_ws
source /opt/ros/humble/setup.bash
source install/local_setup.bash
export ROS_DOMAIN_ID=팀번호

Node Execution Commands

ros2 run load_img cam_pub

ros2 run yolov8_ros predict

ros2 run img_process img_post

ros2 run img_process img_grad

ros2 run control_motor gen_control_data

ros2 run control_motor convert_protocol

ros2 run control_motor send_serial