Awesome
Carla parking with ROS
Carla is an open source simulator for autonomous driving research available at http://carla.org/
Read more on my blog
This package contains an implementation of a rule based parking motion. It is an open-loop approach for the task, given that no information are retrieved from sensors and crashes can occur.
The example spawns 2 cars in predefined positions (leaving enough space between them) and the ego vehicle is blindly controlled to fit the parking spot.
Example
this gif shows the implemented routine with a time scale x5
Installation
<catkin_ws> = name of your catkin workspace
cd ~/<catkin_ws>/src
git clone https://github.com/vignif/carla_parking.git
cd ..
catkin_make
Environment for running
run carla with ./CarlaUE4.sh as from https://carla.readthedocs.io/en/latest/start_quickstart/
run carla ros bridge with
roslaunch carla_ros_bridge carla_ros_bridge.launch
Running
source devel/setup.bash
rosrun carla_park park.py
Specs
park.py implements a basic parking policy for autonomous cars based on geometric information This script spawns:
- one ego vehicle in x=61.4, y=-7.62, z=0.05
- two vehicles inside the parking location a side of the ego vehicle respectively in x=60.4, y=-10.62, z=0.05 and x=47.0, y=-10.62, z=0.05
- a camera attached to the ego vehicle for future sensor-based parking policy
- Carla world set to Town 03 carla_maps
all the vehicles are rotated 180' to be correctly in line with the street
tested env:
- Ubuntu 18.04.3 LTS
- UnrealEngine 4.22
- ROS melodic
- carla 0.9.7
License
- Copyright 2021 © Francesco Vigni