SDC 2023 Midterm Competition - Radar Localization

Using Radar images to find where you are on a Lidar map.

Vidoe Links

Prerequisite

1. Install Docker according to SDC Homework 1
2. Make sure ~/midterm_ws/src existing
3. Place /localization folder under ~/midterm_ws/src/

Environment Setup

Create docker environment

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

Localization

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

Visualization

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

Map Modification

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