autonomous-vehicle-MDS

Commands

Commands Pure_Pursuit Control VersionD

roslaunch stauto_senor stauto_setting.launch

rosrun stauto_senor get_gps_data.py

roslaunch stauto_senor versionD.launch

Commands Pure_Pursuit Control VersionC

roslaunch stauto_senor stauto_setting.launch

rosrun stauto_senor get_gps_data.py

rosrun stauto_senor get_imu_24gv4.py or rosrun stauto_senor get_imu_24gv2.py

rosrun stauto_senor gps_path_pure_pursuit3.py

rosrun stauto_senor gps_control2.py

Velodyne lidar & IMU & ERP_to_PC & GPS

roslaunch stauto_senor stauto_setting.launch

USB cam

roslaunch usb_cam usb_cam-test.launch

Velodyne lidar

roslaunch velodyne_pointcloud VLP16_points.launch

IMU

rosrun stauto_sensor get_imu_24gv4.py

Getting ERP42 information (encoder, steer, speed, brake, gear)

rosrun stauto_control ERP42_to_PC

GPS

rosrun stauto_sensor get_gps_data.py

GPS Save

rosrun stauto_sensor gps_data_save.py

GPS Save from rosbag to txt

rosrun stauto_sensor save_gps_from_rosbag.py

Lidar + camera fusion

roslaunch darknet_ros yolo_v3.launch roslaunch cam_lidar_calib cam_lidar_proj_basler.launch

localization

roslaunch stauto_sensor STauto_Racing.launch

param

pub_wheel_odom_tf:=true: wheel_odom tf publish 결정

use_amcl:amcl 사용결정

ROSBAG save

rosbag record -a

ROSBAG play

rosbag play -($rosbag name).bag --clock

Protocol