To implement a node at the junctions/marked regions in a traffic system that monitors them and defines the movements of the robots in the environment.
Firstly, create your ros workspace and clone the package into it's src/
directory
git clone https://github.com/ReyeTech/TrafficManagementSystem.git
Now use colcon build
and build both tcas
and nav2
packages.
colcon build --packages-select tcas
First source the workspace, if you haven't:
source ~/<your_workspace_dir>/install/setup.bash
Now run the launch file to start the monitoring node:
ros2 launch tcas tcas.launch.py
ros2 launch tcas lane.launch.py
If you would like to define the parameters of the junction, go to the config/junction_details.yaml
and config/robot_details.yaml
and give the coordinates of the marked regions and the no of robots deployed along with their namespaces.
PS: Moved from private to public for share access