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SIP - Akhila Labs

ROS2 AUTONOMOUS VEHICLE

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EC096 Rachit Kachhiya
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10 views20 pages

SIP - Akhila Labs

ROS2 AUTONOMOUS VEHICLE

Uploaded by

EC096 Rachit Kachhiya
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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ROS +LiDAR Based

Autonomous Vehicle Platform

Rachit Kachhiya
ROS

Rachit Kachhiya
ROS

Robot Operating System

Rachit Kachhiya
ROS : Robot Operating System

• ROS is middleware, not a traditional OS.

• Runs on top of existing OS (Linux, Windows, MacOS).

• Provides a common interface for communicating between different


nodes

Rachit Kachhiya
LiDAR

Light Detection and Ranging

Rachit Kachhiya
LiDAR : Light Detection and Ranging

•Remote sensing technology

•Uses laser beams for 3D environmental representation

•Components: laser, scanner, GPS receiver

Rachit Kachhiya
Why Use ROS for Autonomous Vehicles?

• Standardized Communication:
Provides a standardized way to exchange data, commands, and parameters between various
hardware and software components.

• Simulation and Testing:


Tools like Gazebo (for simulation), RViz (for visualization), and RQt (for GUI development)
enable extensive testing and debugging in both simulated and real environments.

• Scalability:
ROS is scalable, suitable for both small projects and large, complex systems typical of
autonomous vehicles.

Rachit Kachhiya
Turtlesim : Mimic

Principle:

1.Subscriber Node: A node


that subscribes to the pose of
the first turtle.
2.Publisher Node: A node
that publishes commands to
control the second turtle.
3.Feedback Loop:
Continuously updates the
second turtle's movement to
match the first turtle's pose.

Rachit Kachhiya
Turtlesim : Edge detection

Principle:
1. Boundary Detection:
- Threshold: A small boundary
threshold (`0.1`) is defined.
- Position Check:
Continuously monitors the
turtle's position.
- Proximity Check: If the
turtle's position is less than `0.1`
or greater than `10.9` on the x or
y axis, it's near the boundary.

Rachit Kachhiya
Turtlesim : Two turtles in same node

Spawning Turtles:
•Two turtles are spawned at
specific coordinates by
calling the spawn_turtle
method twice with different
parameters.
•spawn_turtle constructs a
Spawn.Request with the
desired position and
orientation for each turtle.

Rachit Kachhiya
Subscriber and Publisher

Rachit Kachhiya
RGB to Gray Scale Image

•The node subscribes to the /camera/image_raw topic


to receive image data.
•The CvBridge library converts the ROS image
message to an OpenCV image.
•The OpenCV image is converted to grayscale using
cv2.cvtColor.
•The grayscale image is displayed using OpenCV's
cv2.imshow.
•The display window is refreshed with cv2.waitKey(1)
to show the updated image.

Rachit Kachhiya
RGB to Gray Scale Image

Rachit Kachhiya
Image Edge Detection

Rachit Kachhiya
Image Edge Detection

Rachit Kachhiya
Gray scale Video and Edge Detection

Rachit Kachhiya
Camera Feed:Gray Scale

Rachit Kachhiya
Camera Feed: Gray Scale and Edge Detection

Rachit Kachhiya
Camera Feed: Gray Scale and Edge Detection
*with gridlines and coordinates

Rachit Kachhiya
Thank You !!

Rachit Kachhiya

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