Radar-Localization

Self-Driving Cars Project for NYCU Courses, Fall 2023

Radar localization with NDT * 2 + ICP

File Structure

├── CMakeLists.txt
├── config
│   ├── localiztion.rviz
│   ├── map_modified.rviz
│   └── visualization.rviz
├── include
│   └── localization
├── launch
│   ├── localiztion.launch
│   ├── map_modified.launch
│   └── visualization.launch
└── src
    ├── localization.cpp (scan matching)
    ├── map_modified.cpp
    ├── map_pcd.cpp
    ├── radar.cpp (radar image to point cloud processing)
    └── visualization.cpp

Installation

use container and ros to finish the radar localization

ROS

ROS Noetic Installation

Docker

$ xhost +local:

$ sudo docker run \
-it \
--env="DISPLAY" \
--env="QT_X11_NO_MITSHM=1" \
--volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
-p 2233:22 \
--rm \
--name ros \
--user root \
-e GRANT_SUDO=yes \
-v ~/midterm_ws:/root/catkin_ws \
softmac/sdc-course-docker:latest \
bash

Enter container

$ sudo docker exec -it ros bash

Execute the code

Localization

1. Set up parameters and arguments in localization.launch
   • Configure the map and save paths
   • Switch the bag to the correct rosbag
   • Set the -r (rate) argument to 0.01 or a smaller value.
2. Execute the following command in terminal

$ cd ~/catkin_ws
$ catkin_make
$ source devel/setup.bash
$ roslaunch localization localiztion.launch

Hit space to start playing bag

Visualization

1. Set up parameters and arguments in visualization.launch
   • Configure the map and save paths
   • Switch the bag to the correct rosbag
2. Execute the following command in terminal

$ cd ~/catkin_ws
$ catkin_make
$ source devel/setup.bash
$ roslaunch localization visualization.launch

Hit space to start playing bag

Map Modification

1. Set up parameters and arguments in map_modified.launch
   • Configure the map source and save paths
2. Execute the following command in terminal

$ cd ~/catkin_ws
$ catkin_make
$ source devel/setup.bash
$ roslaunch localization map_modified.launch

Results Demo (Two Tracks)

1. Track1 https://youtu.be/FWsR1p_jHv4
2. Track2 https://youtu.be/uieoKRxQlR4
3. Bonus Track https://youtu.be/ChkOh7PrzJE

License

This project is released under the MIT License.