README.md

AEB

Description

This repo contains two packages that implement AEB using a Zed camera (auto_brake) and a rplidar module (lidar_brake)

How to run

auto_brake

1. Start roscore in a terminal with $roscore
2. In a new terminal cd into catkin_ws
3. Run ./run_zed_brake_system.sh

lidar_brake

1. Start roscore in a terminal with $roscore
2. In a new terminal cd into catkin_ws
3. Run ./run_lidar_brake_system.sh

joy_control

1. Start roscore in a terminal with $roscore
2. In a new terminal cd into catkin_ws
3. Run source devel/setup.bash
4. Run rosrun joy joy_node

Topics published

1. /AEBzed
   • std_msgs.Bool
   • True if object is closer than MINIMUM_DISTANCE
2. /AEBlidar
   • std_msgs.Bool
   • True if object is closer than MINIMUM_DISTANCE

Troubleshooting

1. Error: roscore cannot run as another roscore/master is already running. Solution: killall -9 rosmaster to kill the current roscore running in the background.