Object detection / tracking / fusion based on Apollo r3.0.0 perception module in ROS
Apollo is the most mature and sophisticated autonomous driving platform that is open source right now.
However, there are some limitations.
Have you wondered, what if everything can be run as a standard ROS node and you can use all the familiar tools that are available in ROS? Then this repository is what you need!
Apollo Perception Architecture |
Apollo Perception Overview |
Perception with demo-2.0.bag |
The obstacle perception module in Apollo (r3.0) is extracted and modified so that it can be run as a normal ROS node. Everything is inside docker environment. Detailed steps of building and running the perception module are listed as follows.
I myself find learning Apollo's approach in perception very beneficial to helping me understand how the perception architecture is set up. I hope you find this repo useful as well.
All contributions are welcome!! There are so many things that can be improved. Please raise issues and/or make pull requests if you would like to work on it too. Thank you.
The system is tested on Nvidia GeForce GTX 1080 Ti and 1070 Max-Q. Please install Nvidia Driver, Docker, and Nvidia Docker.
Dependencies | Image Environment |
---|---|
Nvidia Driver (Tested on 384.130) | Ubuntu 14.04 |
Nvidia Docker (Tested on 2) | Cuda 8.0 + Cudnn 7 |
mkdir ~/shared_dir && cd ~/shared_dir
git clone https://github.com/cedricxie/apollo_perception_ros
Pull Dokcer Image
docker pull cedricxie/apollo-perception-ros
Enter Docker Container
cd ~/shared_dir/apollo_perception_ros && ./docker/run.sh
Make ROS Packages
cd ~/shared_dir/apollo_perception_ros/
catkin build
source devel/setup.bash
Launch Perception Node
roslaunch vehicle_base detect_sim.launch
Playback Demo-2.0.bag from Apollo
rosbag play demo-2.0.bag --clock
The bag can be downloaded at Apollo Data Open Platform, Vehicle System Demo Data, with file name demo-sensor-data-apollo-2.0.tar.gz
.
catkin build
again can skip the problem. I am still trying to figure out how to complete solve it. Let me know if you find out a solution./usr/include/c++/4.8/bits/c++0x_warning.h:32:2: error: #error This file requires compiler and library support for the ISO C++ 2011 standard. This support is currently experimental, and must be enabled with the -std=c++11 or -std=gnu++11 compiler options.