Mobile System Control

This is the repository for Mobile System Control lecture

Launching CARLA

1. Download CARLA: Mobile System Control package version of CARLA simulator
2. Launch CARLA

   ./CarlaUE4.sh

Set CARLA API

1. Check the directory of Python API in CARLA simulator
2. Add PYTHONPATH in ~/.bashrc or ~/.zshrc

• bash

  echo "PYTHONPATH=$PYTHONPATH:~/Downloads/CARLA_package/CARLA/PythonAPI/carla/dist/carla-0.9.15-py3.8-linux-x86_64.egg:~/Downloads/CARLA_package/CARLA/PythonAPI/carla/" >> ~/.bashrc

• zsh

  echo "PYTHONPATH=$PYTHONPATH:~/Downloads/CARLA_package/CARLA/PythonAPI/carla/dist/carla-0.9.15-py3.8-linux-x86_64.egg:~/Downloads/CARLA_package/CARLA/PythonAPI/carla/" >> ~/.zshrc

Build Example Packages

1. Setup catkin build

• Change catkin_make workspace to catkin build

  pip3 install pip --upgrade
  pip3 install -U catkin_tools
  cd ~/catkin_ws/src
  rm CMakeLists.txt
  cd ..
  rm -rf build devel
  mkdir build devel install logs
  catkin init
  catkin build

2. Build Packages

• Install external library for QP solver and CARLA messages

  cd ~/catkin_ws/src
  git clone https://github.com/rise-lab-skku/Mobile_System_Control.git
  cd Mobile_System_Control
  sudo ./install.sh
  

• Build packages

  catkin build

Launch Control Examples

1. Launch carla_ros_bridge

   roslaunch carla_ros_bridge carla_ros_bridge.launch

2. Launch mobile_system_control

   roslaunch mobile_system_control mobile_system.launch

   roslaunch mobile_system_control_vis mobile_system_control_vis.launch

3. Spawn vehicle and control window

   roslaunch carla_spawn_objects carla_spawn_objects.launch objects_file_name:=ego

   roslaunch carla_manual_control carla_manual_control.launch role_name:=ego_vehicle
   

4. Launch control examples
   • PID controller

     roslaunch PID_control_ex PID.launch
     

   • Pure Pursuit controller

     roslaunch PurePursuit_control_ex PurePursuit.launch
     

   • Kanayama controller

     roslaunch Kanayama_control_ex Kanayama.launch
     

   • MPC controller

     roslaunch MPC_control_ex MPC.launch
     

Download Link

1. RoadRunner Map Files
2. ERP42 model (.dae)
3. Blender Project File
4. ERP42 model from Blender (.fbx)