AD-EYE

Welcome to the AD-EYE project documentation repository. One page wiki

AD-EYE is a platform for Automated Driving that started in the Mechatronics Unit at KTH, primarily for the purposes of functional safety.

The main building blocks behind the software are:

1. ROS (middleware)
2. Prescan (car simulator)
3. Autoware (nominal channel of the autonomous driving stack)

This repository is a collaborative effort from multiple people who worked in the project at KTH.

NOTE: Pay attention that not all information in this wiki is up to date. If you find any mispelling, broken links or new ways/methods to solve a problem, please raise an issue or pull request for further discussion &/or analysis. Make sure to follow the provided guidelines [ADD WIKI GUIDELINES HERE].

Useful Links

• One drive: One Drive Link
• Trello: https://trello.com/b/kBRz7fwb/ad-eye

(Main) Contacts

• Naveen Mohan: [email protected]
• Konstatin Tyurin : [email protected]

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Platform Capabilities

• Test automation
• OpenSCENARIO support
• Reusable scenario database
• Code re-usability
• Safety checks
• Easy configuration
• Fault Injection
• Doxygen code documentation

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Directory

Information

• Information about AD-EYE
• Information about autoware.ai

Getting Started

• Run single simulation: Try out AD-EYE by running a simple simulation.

One-computer Set-up Guides

• Set-up one computer w/ Ubuntu + Windows VM
• Cloning the VM
• Instructions for Applying the ACS Patch
• Remote Desktop on the VM

AD-EYE Instalation Set-up Guides

Windows:

• Install Prescan
• Install MATLAB

Ubuntu:

• Configure PC name and user
• Install ROS Kinetic
• Install NVIDIA drivers + CUDA: This guides shows how to install NVIDIA drivers on Ubuntu and CUDA.
• Install SSDCaffe: This guides shows how to configure SSDCaffe (a library for training and inference of Deep Neural Networks).
• Install Autoware & AD-EYE: Download & set-up AD-EYE in your local computer.
• Install VectorMapper

AD-EYE Software

• Custom ROS messages in Matlab
• Detection
• Fault Injection
• Fault Monitors
• Frame Description
• Software

Software Engineering Guides

• Code Documentation
• Convention
• Tools Setup
• Version Control Process
• Version Control
• C++ Node Architecture

Git

• How to use Git on Windows
• Git Commands
• Git LFS
• Git Statistics
• Redoing Git History

Vector Mapping

• Create a vector map
• Files Walkthrough
• General Description VectorMapper
• Raw Documents
• Vector Mapper
• Vector Mapper Rules

OpenSCENARIO

• Function Walkthrough
• OpenSCENARIO
• Run a test automation experiment
• Running an OpenScenario

NVIDIA Drive PX2 Guides

• NVIDIA Drive PX2 (DPX2): This guide contains specifications of the NVIDIA Drive PX2 HW.
• Reset DPX2 to factory settings: List of steps to reset DPX2 to factory settings.
• Install Autoware DPX2: List of steps to install and set up Autoware.ai on the drive PX2. NOTE: Acording to the guide, this has not been tested since 2019.
• Install AD-EYE on DPX2: List of steps to install and set up AD-EYE (w/ Autoware) on the drive PX2. It also contains encountered bugs and possible workarounds.

FAQ

• Bug Autoware
• Known Issues and possible workarounds
• ROS message sizes in Simulink
• Setup the DNS on a setup

Other Pages

Creating from real world data

• Create a point cloud map from a rosbag
• Create map from OpenStreetMap
• Add roads and actors to Pex file

Working with City skylines

• Extraction of 3d models from Cities Skylines
• Modding Cities Skylines game

Other

• ROS message sizes in Simulink

• Video creation

• Retrain a CNN on a custom dataset with ssdCaffe

• Store static objects layer in a file

• Profile a ROS node with Callgrind

• One Page Wiki