platoon_ws

This Repository is for Developing & Testing SEA:ME ADS_Truck-Platooning Project.

ROS2 Bridge is from carla-virtual-platoon Interface.

Structure

Features

Lane Detection

Truck Detection

Lateral Control

Longitudinal Control

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User Guide

Install

• Clone Repository

  git clone https://github.com/MC00614/platoon_ws.git

• Build

  cd platoon_ws
  colcon build --symlink-install

• Source

  # Need to source for new terminal
  source install/setup.bash

Launch

• Launch all together (Option 1)

  # Set One Truck
  ros2 launch platoon_launch platoon_launch.launch.py

  # or set Number of Trucks
  ros2 launch platoon_launch platoon_launch.launch.py NumTrucks:=3

• Launch Seperately (Option 2)

  # in each terminal
  ros2 launch lane_detection lane_detection.launch.py
  ros2 launch lane_follower lane_follower.launch.py
  ros2 launch truck_detection truck_detection.launch.py
  ros2 launch longitudianl_control longitudianl_control.launch.py

  # You can set Number of Trucks for each launch
  ros2 launch lane_detection lane_detection.launch.py NumTrucks:=3