Stefano Carlo Lambertenghi

Felix Boelter

Robotics Road Simulation

A controller implementation of lane following, road sign detecting, obstacle avoiding robots.

Report can be found here.

Road-sign Detection

Crossroad Detection

Lane recovery

Obstacle avoidance

Requirements

• ROS 2
• Gazebo 11.0.0 or higher
• PyTorch 1.8.1 or higher

Installation

1. Add models to "~/.gazebo/models"

Add the contents of the folder "Models" to "~/.gazebo/models"

2. Launch the code using the launcher file

In the terminal you can run the following code to launch the environment into Gazebo,

roslaunch robotics_project_2021 robotics_project_2021.launch

3. Seeing what the robot sees

To see what the robot sees and the GUI. Open a new terminal and use the command,

rqt