Autonomous Driving with ROS

Tutorial
VIVES university of Applied Sciences
Researchgroup Smart Mobility
Jeremy Lebon

07/10/2020
1
Overview / agenda

• Introduction ROS

• Basics of ROS

• Practical implementation on simulated vehicle

2
 Who am I?

Name: Jeremy Lebon

VIVES University Of Applied Sciences
• Lecturer Automotive Engineering (2012-…)
– Vehicle Electronics
– In-vehicle networks
– Mobile machine automation - CoDeSys (students and companies)
– Vehicle hydraulics
– Autonomous Vehicles & AI
• Researcher (2011-…)
– Research group Smart Mobility
– ISOBUS, CAN
– Mobile machine automation
• Consultancy services to companies (2012-…)
jeremy.lebon@vives.be
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VIVES University of Applied Sciences

associated with

4
 Research group – Smart Mobility
Electrical vehicles Motorsport Mobile Automation
AGV
& Fuel cells & In-vehicle networks

SmartMobility@vives.be
5
In-house projects

Autonomous driving golfkart (GPS-RTK)

AGV (UWB)

Remote controlled skidsteer

6
 Vehicle setup
& Demo setup

7
 Current vehilce setup
No ROS implemented

LABO
CAN 1 CR0033

CAN 3 - 1000
CAN 2

CAN 4 - 500
Joystick
Roboteq CR0403
Rijden

Vooruit /
Stuurhuis achteruit
3
encoders
1
Autonomous driving primarly
2
Curtis
on GPS-RTK
motorcontroller

Centreer
sensor Stuurinrichting

8
New vehicle setup
With ROS implementation
3D camera Ethernet
CAN
USB
UWB
Sick Visionary Draadloos

Camera

VLP16 Ubuntu – ROS1

Ace 2
Radar
Touchscreen
Read out:
Ubuntu &
Nuvo-7258VTC
RMS 3xx Webvisu
CoDeSys

GPS -RTK

IMU IH372

Encoders

Mti-630

CoDeSys V3.5 J1939 CANopen NMEA200

9
Demo setup today
Catvehicle

Catvehicle Launch
Joystick Launch

RVIZ
Gazebo
RVIZ
Joystick Launch

10
 References

CAT vehicle
Rahul Bhadani, Jonathan Sprinkle, Matthew Bunting. "The CAT Vehicle Testbed: A Simulator with
Hardware in the Loop for Autonomous Vehicle Applications". Proceedings 2nd International
Workshop on Safe Control of Autonomous Vehicles (SCAV 2018), Porto, Portugal, 10th April 2018,
Electronic Proceedings in Theoretical Computer Science 269, pp. 32–47.
Download: http://dx.doi.org/10.4204/EPTCS.269.4.

ROSbot
https://husarion.com/

11
 ROS introduction

12
ROS introduction
Before ROS

13
What is ROS?

14
History ROS

• Originally developed in 2007 at the

Stanford Artificial Intelligence
Laboratory
• Since 2013 managed by OSRF
• Today used by many robots,
universities and companies
• De facto standard for robot
programming

https://www.openrobotics.org/

15
ROS Philosophy

Peer to peer
Individual programs communicate over defined API (ROS
messages, services, etc.).
Distributed
Programs can be run on multiple computers and communicate
over the network.
Multi-lingual
ROS modules can be written in any language for which a client
library exists (C++, Python,MATLAB, Java, etc.).
Light-weight
Stand-alone libraries are wrapped around with a thin ROS layer.
Free and open-source
Most ROS software is open-source and free to use.

16
ROS benefits

• Open-Source
• Vibrant Community
• Comprehensive library of
hardware (> 130 robots)
• Powerful ROS Tools E.g.:
Build, Visualization,
Transform, Graph

17
 ROS benefits

• Reusable fine grained packages

• Distributed system
• Language independence
E.g.: C++, Python, Java . . .
• Open-Source interfaces.
– OpenCV - image processing
– RVIZ - visualisation
– Gazebo – simulation environment
• MoveIt! - path planning

https://metrics.ros.org/

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ROS information

• Wiki.ros.org

• answers.ros.org

• https://discourse.ros.org/

19
ROS Wiki

20
ROS answers

21
ROS Discourse

22
ROS versions
ROS ROS2

23
Autoware Foundation

• Autoware.AI based initially on ROS 1

• New developments based on ROS2 functionalities

24
Apex.AI

25
ROS 2
Why?

26
ROS 2
Key features

> ament_tools

27
ROS 2
Architecture

28
How to get / start with ROS1

• See complete instructions on wiki.ros.org

29
ROS Filesystem

• ROS workspace environment

• ROS packages

30
ROS Filesystem Catkin is a collection of cmake macros and
associated python code used to build some
Workspace environment parts of ROS

> mkdir -p ~/catkin_ws/src Catkin is the official build system of

ROS. A catkin workspace is a folder,
> cd ~/catkin_ws/src in which you modify, build, and
install packages. It is the place to
> catkin_init_workspace create your own packages and
nodes or modify existing ones to fit
your application.
> cd ..
> catkin_make

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 ROS Filesystem
ROS Packages

2000+ packages available on wiki.ros.org

Installation options:

Debian Packages: Source Repositories:

• Automatic installation • “Latest” code
• Stable versions • Manual compilation
• Prebuilt binaries • Allows code adjustments

Depending on ROS version

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 Debian Packages:
ROS Filesystem • Automatic installation
• Stable versions
Packages • Prebuilt binaries

> sudo apt-get install ros-kinetic-package_name

https://wiki.ros.org https://index.ros.org
33
ROS Filesystem
Packages from source
Source Repositories: When?
• “Latest” code When Stable version for ROS version
• Manual compilation isn’t available
• Allows code adjustments

> git clone source-address

> catkin_make

34
ROS Filesystem
Folder structure

35
ROS components

• ROS master
• ROS node
• ROS launch
• ROS topics
• ROS message
• ROS service
• ROS parameter

36
ROS Master

• One master per ROS system

• Registry for:
– Nodes
– Topics
– Services
– Parameters
• Coordinating processes and communication
• Command to start a ROS master

> roscore

37
ROS node

• ROS executable
– Binaries of C++ files (uses roscpp ROS client library)
– Python scripts (uses rospy ROS client library)
• Processes that perform computation
• A ROS system is composed of many different nodes. Each
with a specific task: Camera, LIDAR, navigation,…)
• Needs a ROS master to function
• Command to start ROS node
> Rosrun <package_name> <executable_name> [arguments]

> rosnode list

> rosnode info <node_name>
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ROS Node
Setup

39
Launch-file

• XML base
• Possible to start multiple nodes at the same time
– Supports arguments
– Supports parameters
– Nodes can be grouped
– Communication of nodes can be configured
• Starts a ROS master (if none exists)

> roslaunch <package_name> <launchfile_name>[arguments]

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Launch-file
Example

41
 ROS Topics

• Asynchronous streaming
• Multiple concurrent publisher
and subscribers for one topic
• A single node can publish and
subcribe to multiple topics
• Works like a “chat room”

• Examples: laser scan data,

images, robot position, odom,
cmd_vel
• Every topic has a dedicated
> rostopic list message type

> rostopic echo </topicname>

> rostopic info </topicname>

42
ROS Messages types (*.msg)

• Independent of the programming

language
• Can be constructed by the user
– Within in ROS package
• If possible, use predefined default
types to assure intercompatibility
– E.g.: std_msgs, geometry_msgs,
nav_msgs, sensor_msgs,
visualization_msgs,…
– www.wiki.ros.org/common_msgs

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ROS Messages types (*.msg)

44
ROS parameter

Parameter server
• Allows data to be stored by key in a central location
• Global viewable
• Not designed for high-performance
– Query Only
• Most suitable for configuration information

45
ROS Commands - overview

46
 Demo setup today
Catvehicle

CAT vehicle
Rahul Bhadani,
Jonathan Sprinkle,
Matthew Bunting. "The
CAT Vehicle Testbed: A
Simulator with Catvehicle Launch
Hardware in the Loop Joystick Launch
for Autonomous
Vehicle Applications".
Proceedings 2nd
International
Workshop on Safe
Control of Autonomous
Vehicles (SCAV 2018),
Porto, Portugal, 10th
April 2018, Electronic
Proceedings in
Theoretical Computer
Science 269, pp. 32–47.
Download: http://dx.do
i.org/10.4204/EPTCS.26
9.4.
RVIZ
Gazebo
RVIZ
Joystick Launch

47
ROS Tools

• Rqt – tools

• Gazebo

• Rviz

• Others
– PCL
– OpenCV
– Movit

48
ROS tools
RVIZ

49
ROS tools
Gazebo

50
ROS tools
rqt
qt-based framework for ROS GUIs

51
ROS tools
rqt
qt-based framework for ROS GUIs

52
ROS tools
Others

53
 ‘Autonomous’ navigation

ROSbot
https://husarion.com/

54
 Demo Rosbot

ROSbot
https://husarion.com/

55
Navigation Package

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Gmapping

ROS wrapper for OpenSlam’sGmapping

Laser-based SLAM(Simultaneous
Localization and Mapping)
Create a 2-D occupancy grid map (like
a building floorplan)

Gmapping  make a map

- Control vehicle manual and scan the enviromnent
- Save the map

57
ACML
Adaptive Monte Carlo Localization
• a probabilistic localization system for a robot moving in 2D
• implements the adaptive Monte Carlo localization approach
• uses a particle filter to track the pose of a robot against a known map
• subscribes to (default):
– Laser scans : /scan (sensor_msgs/LaserScan)
– Transforms : /tf (tf/tfMessage)
– initial pose : /initialpose
– (geometry_msgs/PoseWithCovarianceStamped)
– map : /map (nav_msgs/OccupancyGrid)
• publishes (default):
– robot’s estimated pose in the map, with covariance: /amcl_pose
(geometry_msgs/PoseWithCovarianceStamped)
– pose estimates being maintained by the filter:
/particlecloud (geometry_msgs/PoseArray)
– the transform from odom : /tf (tf/tfMessage)

58