Simple Lane Detection for Virat

Package for lane detection

Usage

• Launch Gazebo and Rviz

roslaunch virat_gazebo igvc_world.launch
roslaunch virat_gazebo virat_rviz.launch

• Launch node Important: Launch file must be run in a namespace. The system subscribes to ~/image_raw and and publishes to ~/points2

ROS_NAMESPACE=/camera_topic/left roslaunch lanes_mono lanes_mono.launch

Optional

• Dynamic reconfigure

First in the parameters, set dynamic_reconfigure to yes, then:

rosrun rqt_reconfigure rqt_reconfigure

Parameters

• In the launchfile:

  • image_proc (bool, default 1): Whether to spawn the image_processing node
  • param_file (string, default $(find lanes_mono)/params/sample.yaml): The parameter file to load

• In param file: See sample.yaml

Note

project-TARIV and Team-Clueless are synced using this with this.