Summary

This chapter was a deep discussion of self-driving cars and their implementation. The chapter started by discussing the basics of self-driving car technology and its history. Afterward, we discussed the core blocks of a typical self-driving car. We also discussed the concept of autonomy levels in self-driving cars. Then, we took a look at different sensors and components commonly used in a self-driving car. We discussed how to simulate such a car in Gazebo and interfacing it with ROS. After discussing all sensors, we saw an open-source self-driving car project that incorporates all sensors and simulated the car model itself in Gazebo. We visualized its sensor data and moved the robot using a teleoperation node. We also mapped the environment using hector SLAM. The next project was from Dataspeed Inc., in which we saw how to interface a real DBW-compatible vehicle with ROS. We visualized the offline data of the vehicle using Rviz. Finally, we took a look at the Udacity self-driving...