Agenda first Final Project Meeting

1. Introduction round

2. Intro to github / project organization

• add collaborators --> done
• branches vs. forks --> branches
• wiki for documentation --> ok
• issues / milestones

3. Workpackages for the project

Aim is to build MVPs (minimal viable products) along the way. Proposal:

• get car to move (fake waypoint_updater, twist_controller)
• get car to follow the right waypoints
• get car to follow the right waypoints nicely
• get car to stop when needed (fake red light detection)
• get car to stop in front of red lights

--> We created milestones for these goals.

Node descriptions based on classroom.

• tl_detector

  • detect and classify red lights in topic /image_color
  • can use additional info from topic /current_pose
  • publish stop location using topic /base_waypoints to topic /traffic_waypoint

• waypoint_updater

  • publish final waypoints with target velocities to topic /final_waypoints
  • input topics: /base_waypoints, /current_pose, /obstacle_waypoint, /traffic_waypoint

• twist_controller

  • input are topics /current_velocity and /twist_cmd (+ /vehicle/dbw_enabled)
  • output are throttle_cmd, brake_cmd and steering_cmd in /vehicle namespace

Bagfiles related to the project

• Traffic light detection test video (only video topics)
• camera_transform_corrected.bag
• udacity_successful_light_detection.bag

ROS info

• catkin workspace root is: ~/carnd/ros (repo cloned to folder named carnd in your home)
• Visualization can be done in rviz: rosrun rviz rviz; rviz configurations will be committed.
• some helpful lines for your ~/.bashrc:

MY_CATKIN_WS=~/carnd/ros
# Source ROS if available
if [ -f /opt/ros/kinetic/setup.bash ]; then
  source /opt/ros/kinetic/setup.bash

  if [ -f ${MY_CATKIN_WS}/devel/setup.bash ]; then
    source ${MY_CATKIN_WS}/devel/setup.bash
  fi  
else
  echo "[Warning] ROS not installed..."
fi
alias ccd='cd ${MY_CATKIN_WS}/src'
alias cm='pushd .; cd ${MY_CATKIN_WS} && catkin_make; popd'
alias cm-clean='mv ${MY_CATKIN_WS}/build ${MY_CATKIN_WS}/devel /tmp'
alias simclean='rm -rf ~/.config/unity3d/Udacity/self_driving_car_nanodegree_program/Player.log'
alias sim='simclean && ~/data/linux_sys_int/sys_int.x86_64'

Next steps

• everyone looks at the code and creates issues assigned to the milestones
• notify people on slack about stuff you do
• assign an issue to you if you're working
• commit often, also push after you're done

Open points

• Is there a requirement for a separate obstacle detector? Are traffic lights the only obstacles?