An open-source full-stack software based on ROS framework, for self-driving applications. Targeting to facilitate the research in
autonomous driving projects for low-speed applications in urban environments. This software comes with a built-in Gazebo based
simulation, an end-to-end self-driving software and a user-friendly GUI to facilitate launching of the software.
Used for trials on real-world automated vehicles.
- Graphics User Interface (GUI) with integrated ROS tools
- Docker and Source Code installation
- Multiple Sensors Drivers
- High level supervisor node, monitoring the heath of the system and publishing diagnostics
- Object Detection using LiDAR and Radar
- Emergency stop reaction
- Vehicle Interface acting as a bridge between ROS and the embedded vehicle controllers.
- PID/Feedforward linear velocity feedback loop
- Tunable yaw to steering percentage conversion map
- Integrated Gazebo simulation model
- 3 ways of simulation control: Aslan software, keyboard and joystick controllers
- Vehicle Models visualization and parameters description
- On-vehicle software testing and evaluation as well as parameters configuration
- Normal Distribution Transform (NDT)* for localization and mapping
- Voxel Grid and Ground Removal * point cloud filtering
- Route planning using waypoints *
- Path Planning based on A* Planner
- Comprehensive documentation of the source code in the repo and inside the GUI
- Online tutorials
- Quick start resources: rosbag, point cloud map and waypoints csv
*Originally suggested at autoware.ai, tag: 1.10.0.
These packages have been configured and modified significantly to fit the requirements of Project ASLAN.
Complete Feature Log, available here
- ROS Kinetic ros-kinetic-desktop-full
- Catkin Command Line Tools catkin_tools
Search for Software & Updates and click on 'Other Software'.
Tick the boxes allowing software updates from 'canonical partners' and 'source code'.
Press reload and enter your sudo password
For more information please visit here
Setup your computer to accept software from packages.ros.org.
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
Setup your keys
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
Update debian package index
sudo apt-get update
Install ROS Kinetic Desktop Full
sudo apt-get install ros-kinetic-desktop-full
Set up your environment
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
Install additional tools
sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential python-catkin-tools
Initialise rosdep
sudo rosdep init
rosdep update
git clone --recurse-submodules https://github.com/project-aslan/Aslan.git
# if you haven't initialized and updated the submodules with --recurse-submodules when cloning, do:
cd Aslan/
git submodule update --init --recursive
cd Aslan
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
catkin init
From the root of your catkin workspace, run
catkin_make
If you have previously built your workspace with catkin build:
Either clean your workspace with catkin clean and rebuild with catkin_make
To start the Project ASLAN GUI, simply execute the bash script:
./run
Project Aslan Dockerhub: projaslan/aslan
Project Aslan Website: www.project-aslan.org
Quick Start Resources: rosbag, point cloud map and waypoints csv
Online Tutorials: Youtube Channel
A dedicated, trained and attentive safety driver must always be present in the driver's seat at all times and in all environments, monitoring the vehicle.
THIS SOFTWARE IS FOR RESEARCH PURPOSES ONLY. YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS. NO WARRANTY EXPRESSED OR IMPLIED. ACCESS TO AND USE OF THIS SOFTWARE IS AT YOUR OWN RISK AND RESPONSIBILITY.
Aslan Software is licensed under Apache 2 License
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