Inceptio Intelligent Truck System

An Intelligent Self-driving Truck System For Highway Transportation

Note

The code is still in development.

OS requirement

Ubuntu Bionic (18.04 LTS)

Install ROS 2 (Eloquent Elusor)

Please refer to https://index.ros.org/doc/ros2/Installation/Eloquent/Linux-Install-Debians/

Setup Locale

sudo apt install -y locales
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8

Setup Sources

sudo apt update && sudo apt install curl gnupg2 lsb-release
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

sudo sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'

Install ROS 2 packages

sudo apt update

sudo apt install ros-eloquent-desktop

Environment setup

Add the following line into your ~/.bashrc

source /opt/ros/eloquent/setup.bash

then

source ~/.bashrc

Install argcomplete (optional but recommanded)

sudo apt install -y python3-pip
pip3 install -U argcomplete

Install colcon

Please refer to https://index.ros.org/doc/ros2/Tutorials/Colcon-Tutorial/

sudo apt install python3-colcon-common-extensions

Install ad_map_access

Please refer to https://ad-map-access.readthedocs.io/en/latest/BUILDING/

sudo apt-get install libboost-all-dev libpugixml-dev libproj-dev libgtest-dev libpython-dev libosmium2-dev liblapacke-dev libyaml-cpp-dev castxml

sudo apt install -y python-pip

pip install --user pygccxml pyplusplus xmlrunner

Create workspace

Setup folder structure

mkdir -p ~/code/iits/iits_ws
cd ~/code/iits/iits_ws

Get the code

git clone https://github.com/InceptioResearch/IITS.git

Setup build environment

Perform a trival build first, this step generate build, install and log directories in the workspace.

colcon build --packages-select

Add the following line into your ~/.bashrc

source ~/code/iits/iits_ws/install/setup.bash

then

source ~/.bashrc

Build

cd ~/code/iits/iits_ws/

colcon build

Install Carla (Optional)

Carla is used in the visualization node Please refer to https://carla.readthedocs.io/en/latest/start_quickstart/#carla-installation

Install rosbag2 (Optional)

sudo apt-get install ros-eloquent-ros2bag ros-eloquent-rosbag2-storage-default-plugins

To record planner related topics

./src/scripts/record.sh

To record planner related debug topics (without planning results)

./src/scripts/record_debug.sh

To playback the recorded rosbag

ros2 bag play <rosbag_directory>

Quick start

run planning with truck sim

ts-lm-cli
./src/scripts/start_trucksim.sh

run scenario

ros2 launch scenario_runner run_jinan.py

run carla bridge

cd /to/your/carla/folder
./CarlaUE4.sh
ros2 run carla_bridge run_carla_bridge

run trucksim bridge (please make sure that you have installed trucksim on you computer)

ts-lm-cli
ros2 run trucksim_bridge trucksim_bridge_node