Self-Driving Arduino Car

A very basic self driving arduino car

Features

• path planning
• obstacle avoidance
• lane detection/holding
• motion planing
• manual control

Requirements

• ubuntu 24.04
• latest cmake version
• latest gcc or clang version
• arduino ide
• gtest
• wiringpi
  • do not forget to add user to gpio group
  • or sudo chmod g+rw /dev/gpiomem0
• opencv
  • sudo ln -s /usr/include/opencv4/opencv2 /usr/include/opencv2
• ros2

Prepare your ROS2 environment

1. According to official documentation for every new shell you will need to run this command to have access to the ROS 2 commands:

source /opt/ros/jazzy/setup.bash

2. Alternative way is to add sourcing to your shell startup script

echo "source /opt/ros/jazzy/setup.bash" >> ~/.bashrc

3. But for build rule and especially for install directory you have mannualy set the environment:

source install/local_setup.bash

Build

make all

Test

make tests

Run

1. Choose module to run

ros2 run main-pipeline main_pipeline
ros2 run manual-control manual_control
ros2 run path-planning path_planning
ros2 run obstacle-avoidance obstacle_avoidance
ros2 run lane-detection lane-detection
ros2 run motion-calibration motion_calibration