LidarSORT-3D-Object-Tracking

Overview

This project aims to develop components for an autonomous driving system for cars or robots. It encompasses sensor data processing, object tracking, and autonomous driving control algorithms.

File Descriptions

Configuration Files

• params.yaml: Contains all the major configuration parameters for the system. This includes settings for sensor accuracy, tracking algorithm parameters, control gains, etc.

ROS Launch Files

• mission.launch: Launches the necessary ROS nodes for actual mission execution. This includes sensor nodes, data processing nodes, etc.
• test.launch: Sets up a testing environment to evaluate the system's performance. It is used for testing specific sensors or algorithms.

C++ Header and Source Files

• KalmanTracker.h, Hungarian.h: Contains implementations for object tracking algorithms.
• lidar_lib.hpp, camera_lib.hpp: Libraries for sensor data processing.
• car_struct.h: Defines the vehicle data structure.
• acc_controller.cpp: Implementation of the Adaptive Cruise Controller.

Getting Started

Installing Dependencies

This project is developed using ROS (Robot Operating System) and C++17. Ensure that the appropriate version of ROS and a C++ compiler are installed.

Setting Configuration Parameters

1. Open the params.yaml file and adjust the parameters as needed.
2. These settings will directly affect the performance and operation of the system.

Execution

To execute a mission, use mission.launch, and for system testing, use test.launch.

Launch system

roslaunch acc_controller mission.launch

Launch system with visualizing

roslaunch acc_controller test.launch

Contributing

If you would like to contribute to this project, please submit issues or send Pull Requests. All contributions are welcome.