<p><a href="https://cafe.daum.net/SmartRobot/RoVa/2426" target="_blank" class="ke-link">https://cafe.daum.net/SmartRobot/RoVa/2426</a></p><div class="figure-open" contenteditable="false" data-ke-type="opengraph" data-ke-align="alignCenter" data-og-type="website" data-og-title="졸업작품 주제구상, 공부 계획" data-og-description="목표CARLA에서 라이다 data를 사용하여 보드에서 3D 딥러닝 모델을 사용 추론, 인지, 판단, 제어하여 jetson으로부터 값을 wsl로 받아옴  구상  3D model 추론CARLA의 LIDAR PointCloud를 받아서 추론 인지Poi" data-og-host="cafe.daum.net" data-og-source-url="https://cafe.daum.net/SmartRobot/RoVa/2426" data-og-url="https://cafe.daum.net/_c21_/bbs_read?grpid=1RgNt&fldid=RoVa&datanum=2426" data-og-image="https://scrap.kakaocdn.net/dn/06IZX/hyZOkpMgUC/T01BDyM8PkstG1qXzL8Ork/img.png?width=140&height=115&face=0_0_140_115"><a href="https://cafe.daum.net/SmartRobot/RoVa/2426" target="_blank" data-source-url="https://cafe.daum.net/SmartRobot/RoVa/2426"><div class="og-image"><img class="thumb_img" src="https://scrap.kakaocdn.net/dn/06IZX/hyZOkpMgUC/T01BDyM8PkstG1qXzL8Ork/img.png?width=140&height=115&face=0_0_140_115" alt="" xxxxonerror="this.src="//img1.kakaocdn.net/thumb/C200x200/?fname=https%3A%2F%2Ft1.daumcdn.net%2Fcafe_image%2Fcafe_meta_image_190529.png""></div><div class="og-text"><p class="og-title">졸업작품 주제구상, 공부 계획</p><p class="og-desc">목표CARLA에서 라이다 data를 사용하여 보드에서 3D 딥러닝 모델을 사용 추론, 인지, 판단, 제어하여 jetson으로부터 값을 wsl로 받아옴  구상  3D model 추론CARLA의 LIDAR PointCloud를 받아서 추론 인지Poi</p><p class="og-host">cafe.daum.net</p></div></a></div><div class="table-wrap"><table data-ke-type="table" data-ke-align="alignLeft" style="width: 100%;" border="1"><tbody><tr><td style="width: 100%;"><b> 1. carla 기능 조사</b><br><b>2. carla 공부를 어떻게 할지 조사</b><br><b>3. 방학때 ros2 심화 공부 필수</b><br><b>4. ros2 패키지에서 carla에 연결하여 영상, 포인트 클라우드 토픽 구독 및 자동차 제어 토픽 발행 방법을 조사해볼것</b><br><b>5. 졸업작품의 대략적인 목표, 세부기능 포함</b><br><b>6. carla에서 초당 영상, 포인트클라우드 최대 처리가능 프레임수 조사해볼것, 필요한 GPU사양 </b></td></tr></tbody></table></div><p> </p><p><b><span data-ke-size="size18">1.carla 기능 조사</span></b></p><p> </p><p><b>LiDAR Sensor</b></p><p><a href="https://carla.readthedocs.io/en/latest/ref_sensors/" target="_top" class="ke-link">https://carla.readthedocs.io/en/latest/ref_sensors/</a></p><p> </p><div class="figure-img" data-ke-type="image" data-ke-style="alignCenter" data-ke-mobilestyle="widthOrigin"><img src="https://t1.daumcdn.net/cafeattach/1RgNt/2931a7515907307f0b51d86bcf8e73cfac48af03_re_1764089798801" class="txc-image" data-img-src="https://t1.daumcdn.net/cafeattach/1RgNt/2931a7515907307f0b51d86bcf8e73cfac48af03_re_1764089798801" data-origin-width="538" data-origin-height="301"></div><p> </p><p> </p><p><b>ROS Bridge package</b><b></b></p><p><b>publish하기 위함</b></p><p><a href="https://carla.readthedocs.io/projects/ros-bridge/en/latest/run_ros/" target="_blank" class="ke-link">https://carla.readthedocs.io/projects/ros-bridge/en/latest/run_ros/</a></p><p><a href="https://github.com/carla-simulator/ros-bridge" target="_blank" class="ke-link">https://github.com/carla-simulator/ros-bridge</a></p><div class="figure-open" contenteditable="false" data-ke-type="opengraph" data-ke-align="alignCenter" data-og-type="website" data-og-title="GitHub - carla-simulator/ros-bridge: ROS bridge for CARLA Simulator" data-og-description="ROS bridge for CARLA Simulator. Contribute to carla-simulator/ros-bridge development by creating an account on GitHub." data-og-host="github.com" data-og-source-url="https://github.com/carla-simulator/ros-bridge" data-og-url="https://github.com/carla-simulator/ros-bridge" data-og-image="//img1.kakaocdn.net/thumb/C200x200/?fname=https%3A%2F%2Ft1.daumcdn.net%2Fcafe_image%2Fcafe_meta_image_190529.png"><a href="https://github.com/carla-simulator/ros-bridge" target="_blank" data-source-url="https://github.com/carla-simulator/ros-bridge"><div class="og-image"><img class="thumb_img" src="//img1.kakaocdn.net/thumb/C200x200/?fname=https%3A%2F%2Ft1.daumcdn.net%2Fcafe_image%2Fcafe_meta_image_190529.png" alt="" xxxxonerror="this.src="//img1.kakaocdn.net/thumb/C200x200/?fname=https%3A%2F%2Ft1.daumcdn.net%2Fcafe_image%2Fcafe_meta_image_190529.png""></div><div class="og-text"><p class="og-title">GitHub - carla-simulator/ros-bridge: ROS bridge for CARLA Simulator</p><p class="og-desc">ROS bridge for CARLA Simulator. Contribute to carla-simulator/ros-bridge development by creating an account on GitHub.</p><p class="og-host">github.com</p></div></a></div><p> </p><p><a href="https://kimbrain.tistory.com/518" target="_blank" class="ke-link">https://kimbrain.tistory.com/518</a></p><div class="figure-open" contenteditable="false" data-ke-type="opengraph" data-ke-align="alignCenter" data-og-type="website" data-og-title="ROS-CARLA Bridge 사용해보기" data-og-description="Install ROS Bridge for ROS 2 - CARLA Simulator Install ROS Bridge for ROS 2 - CARLA Simulator ROS bridge installation for ROS 2 This section is a guide on how to install the ROS bridge on Linux for use with ROS 2. You will find the prerequisites, installat" data-og-host="kimbrain.tistory.com" data-og-source-url="https://kimbrain.tistory.com/518" data-og-url="https://kimbrain.tistory.com/518" data-og-image="https://scrap.kakaocdn.net/dn/oXiCq/hyZOEax2nI/NHOAjhG1z2VjTNLZv6kLP0/img.png?width=800&height=415&face=0_0_800_415,https://scrap.kakaocdn.net/dn/b7fUSS/hyZOeSqcWI/GDfExzKJKSezPuVaIeQRz0/img.png?width=800&height=415&face=0_0_800_415,https://scrap.kakaocdn.net/dn/c9aMPp/hyZOyuY94G/k5Wj0FMhZH8seoqRPfLB70/img.png?width=1863&height=967&face=0_0_1863_967"><a href="https://kimbrain.tistory.com/518" target="_blank" data-source-url="https://kimbrain.tistory.com/518"><div class="og-image"><img class="thumb_img" src="https://scrap.kakaocdn.net/dn/oXiCq/hyZOEax2nI/NHOAjhG1z2VjTNLZv6kLP0/img.png?width=800&height=415&face=0_0_800_415,https://scrap.kakaocdn.net/dn/b7fUSS/hyZOeSqcWI/GDfExzKJKSezPuVaIeQRz0/img.png?width=800&height=415&face=0_0_800_415,https://scrap.kakaocdn.net/dn/c9aMPp/hyZOyuY94G/k5Wj0FMhZH8seoqRPfLB70/img.png?width=1863&height=967&face=0_0_1863_967" alt="" xxxxonerror="this.src="//img1.kakaocdn.net/thumb/C200x200/?fname=https%3A%2F%2Ft1.daumcdn.net%2Fcafe_image%2Fcafe_meta_image_190529.png""></div><div class="og-text"><p class="og-title">ROS-CARLA Bridge 사용해보기</p><p class="og-desc">Install ROS Bridge for ROS 2 - CARLA Simulator Install ROS Bridge for ROS 2 - CARLA Simulator ROS bridge installation for ROS 2 This section is a guide on how to install the ROS bridge on Linux for use with ROS 2. You will find the prerequisites, installat</p><p class="og-host">kimbrain.tistory.com</p></div></a></div><p> </p><p><b> CARLA</b> <b>Planning and control</b><b></b></p><p><a href="https://carla.readthedocs.io/en/0.9.12/adv_agents/" target="_top" class="ke-link">https://carla.readthedocs.io/en/0.9.12/adv_agents/</a></p><div class="figure-img" data-ke-type="image" data-ke-style="alignCenter" data-ke-mobilestyle="widthOrigin"><img src="https://t1.daumcdn.net/cafeattach/1RgNt/c21d0e89c74908060cce4072dc6078b91730ed3c_re_1764089798801" class="txc-image" data-img-src="https://t1.daumcdn.net/cafeattach/1RgNt/c21d0e89c74908060cce4072dc6078b91730ed3c_re_1764089798801" data-origin-width="556" data-origin-height="310"></div><p><b>global_route_planner로 지도 기반으로 A*알고리즘 등을 써서 목적지까지 경로 생성을 할 수 있음.</b></p><p> </p><p> </p><p><b>제어</b></p><p><b>AckermannDrive</b></p><p><b> carla_ackermann_control </b></p><p><b><a href="https://carla.readthedocs.io/projects/ros-bridge/en/latest/carla_ackermann_control/" target="_blank" class="ke-link">https://carla.readthedocs.io/projects/ros-bridge/en/latest/carla_ackermann_control/</a></b></p><p><a href="https://github.com/carla-simulator/ros-bridge/tree/master/carla_ackermann_control" target="_blank" class="ke-link">https://github.com/carla-simulator/ros-bridge/tree/master/carla_ackermann_control</a></p><div class="figure-open" contenteditable="false" data-ke-type="opengraph" data-ke-align="alignCenter" data-og-type="website" data-og-title="ros-bridge/carla_ackermann_control at master · carla-simulator/ros-bridge" data-og-description="ROS bridge for CARLA Simulator. Contribute to carla-simulator/ros-bridge development by creating an account on GitHub." data-og-host="github.com" data-og-source-url="https://github.com/carla-simulator/ros-bridge/tree/master/carla_ackermann_control" data-og-url="https://github.com/carla-simulator/ros-bridge/tree/master/carla_ackermann_control" data-og-image="https://scrap.kakaocdn.net/dn/LtDoW/hyZNIr7C3q/hZAnlefm6q7FbusgcJ09k0/img.png?width=1200&height=600&face=0_0_1200_600,https://scrap.kakaocdn.net/dn/caq3Km/hyZOsO8ERX/ReJdkJdWMyCbbeQvv0271k/img.png?width=1200&height=600&face=0_0_1200_600"><a href="https://github.com/carla-simulator/ros-bridge/tree/master/carla_ackermann_control" target="_blank" data-source-url="https://github.com/carla-simulator/ros-bridge/tree/master/carla_ackermann_control"><div class="og-image"><img class="thumb_img" src="https://scrap.kakaocdn.net/dn/LtDoW/hyZNIr7C3q/hZAnlefm6q7FbusgcJ09k0/img.png?width=1200&height=600&face=0_0_1200_600,https://scrap.kakaocdn.net/dn/caq3Km/hyZOsO8ERX/ReJdkJdWMyCbbeQvv0271k/img.png?width=1200&height=600&face=0_0_1200_600" alt="" xxxxonerror="this.src="//img1.kakaocdn.net/thumb/C200x200/?fname=https%3A%2F%2Ft1.daumcdn.net%2Fcafe_image%2Fcafe_meta_image_190529.png""></div><div class="og-text"><p class="og-title">ros-bridge/carla_ackermann_control at master · carla-simulator/ros-bridge</p><p class="og-desc">ROS bridge for CARLA Simulator. Contribute to carla-simulator/ros-bridge development by creating an account on GitHub.</p><p class="og-host">github.com</p></div></a></div><p> </p><p><b>2. carla 공부를 어떻게 할지 조사</b></p><p>PythonAPI/examples/manual_control.py를 사용하여 먼저 기본 예제를 실행<br>carla-ros-bridge패키지 안에서 예제 파일을 실행하여 RViz를 사용하여 토픽이 들어오는지 눈으로 확인</p><p>Launch 파일 안에서 센서 위치(x,y,z)와 종류를 어떻게 설정해야 하는지 알아보기</p><p><br><b>3. 방학때 ros2 심화 공부 필수</b></p><p><b><a href="https://cafe.daum.net/SmartRobot/W2or/114" target="_blank" class="ke-link">https://cafe.daum.net/SmartRobot/W2or/114</a></b></p><div class="figure-open" contenteditable="false" data-ke-type="opengraph" data-ke-align="alignCenter" data-og-type="website" data-og-title="[ROS2심화] 1. ROS2 패키지를 이용한 자율주행" data-og-description="1. 이론 공부 지금까지는 패키지를 직접 작성하여 자율주행하는 과제를 수행하였고 지금부터는 ROS2에서 제공하는 패키지를 활용하여 자율주행과제를 수행하도록 한다.연구실 로봇키트(Waffle nan" data-og-host="cafe.daum.net" data-og-source-url="https://cafe.daum.net/SmartRobot/W2or/114" data-og-url="https://cafe.daum.net/_c21_/bbs_read?grpid=1RgNt&fldid=W2or&datanum=114" data-og-image="//img1.kakaocdn.net/thumb/C200x200/?fname=https%3A%2F%2Ft1.daumcdn.net%2Fcafe_image%2Fcafe_meta_image_190529.png"><a href="https://cafe.daum.net/SmartRobot/W2or/114" target="_blank" data-source-url="https://cafe.daum.net/SmartRobot/W2or/114"><div class="og-image"><img class="thumb_img" src="//img1.kakaocdn.net/thumb/C200x200/?fname=https%3A%2F%2Ft1.daumcdn.net%2Fcafe_image%2Fcafe_meta_image_190529.png" alt="" xxxxonerror="this.src="//img1.kakaocdn.net/thumb/C200x200/?fname=https%3A%2F%2Ft1.daumcdn.net%2Fcafe_image%2Fcafe_meta_image_190529.png""></div><div class="og-text"><p class="og-title">[ROS2심화] 1. ROS2 패키지를 이용한 자율주행</p><p class="og-desc">1. 이론 공부 지금까지는 패키지를 직접 작성하여 자율주행하는 과제를 수행하였고 지금부터는 ROS2에서 제공하는 패키지를 활용하여 자율주행과제를 수행하도록 한다.연구실 로봇키트(Waffle nan</p><p class="og-host">cafe.daum.net</p></div></a></div><p>카페에 나와있는 자료들로 공부할 예정</p><p> </p><p><b>4. ros2 패키지에서 carla에 연결하여 영상, 포인트 클라우드 토픽 구독 및 자동차 제어 토픽 발행 방법을 조사해볼것</b></p><p><b>1. 연결 및 센서</b></p><p><b>carla_ros_bridge</b></p><p><a href="https://github.com/carla-simulator/ros-bridge" target="_blank" class="ke-link">https://github.com/carla-simulator/ros-bridge</a><br><b></b></p><div class="figure-open" contenteditable="false" data-ke-type="opengraph" data-ke-align="alignCenter" data-og-type="website" data-og-title="GitHub - carla-simulator/ros-bridge: ROS bridge for CARLA Simulator" data-og-description="ROS bridge for CARLA Simulator. Contribute to carla-simulator/ros-bridge development by creating an account on GitHub." data-og-host="github.com" data-og-source-url="https://github.com/carla-simulator/ros-bridge" data-og-url="https://github.com/carla-simulator/ros-bridge" data-og-image="//img1.kakaocdn.net/thumb/C200x200/?fname=https%3A%2F%2Ft1.daumcdn.net%2Fcafe_image%2Fcafe_meta_image_190529.png"><a href="https://github.com/carla-simulator/ros-bridge" target="_blank" data-source-url="https://github.com/carla-simulator/ros-bridge"><div class="og-image"><img class="thumb_img" src="//img1.kakaocdn.net/thumb/C200x200/?fname=https%3A%2F%2Ft1.daumcdn.net%2Fcafe_image%2Fcafe_meta_image_190529.png" alt="" xxxxonerror="this.src="//img1.kakaocdn.net/thumb/C200x200/?fname=https%3A%2F%2Ft1.daumcdn.net%2Fcafe_image%2Fcafe_meta_image_190529.png""></div><div class="og-text"><p class="og-title">GitHub - carla-simulator/ros-bridge: ROS bridge for CARLA Simulator</p><p class="og-desc">ROS bridge for CARLA Simulator. Contribute to carla-simulator/ros-bridge development by creating an account on GitHub.</p><p class="og-host">github.com</p></div></a></div><p><b> carla_spawn_object</b></p><p><b>차량의 센서 생성</b></p><p><a href="https://carla.readthedocs.io/projects/ros-bridge/en/latest/carla_spawn_objects/" target="_blank" class="ke-link">https://carla.readthedocs.io/projects/ros-bridge/en/latest/carla_spawn_objects/</a></p><p> </p><p><b>2. 영상 및 포인트 클라우드 확인</b></p><p style="text-align: start;"><b>rviz2를 사용한 라이다 포인트 클라우드 시각화</b></p><p style="text-align: start;"><a href="https://bigbigpark.github.io/ros/ros-pointcloud2-rosbag/" target="_top" class="ke-link">https://bigbigpark.github.io/ros/ros-pointcloud2-rosbag/</a></p><div class="figure-open" contenteditable="false" data-ke-type="opengraph" data-ke-align="alignCenter" data-og-type="website" data-og-title="[ROS/PCL] PointCloud2 샘플데이터 재생 rosbag" data-og-description="How to visualize PointCloud2 on rviz" data-og-host="bigbigpark.github.io" data-og-source-url="https://bigbigpark.github.io/ros/ros-pointcloud2-rosbag/" data-og-url="https://bigbigpark.github.io/ros/ros-pointcloud2-rosbag/" data-og-image="https://scrap.kakaocdn.net/dn/17zrU/hyZOqDNHZi/FwkbavIavlSeUTPdlzFQdk/img.png?width=1125&height=1125&face=242_411_653_859,https://scrap.kakaocdn.net/dn/b1oGTf/hyZOiAAxKT/REVxZrZSfzLkIJN4290h5K/img.png?width=1194&height=872&face=0_0_1194_872,https://scrap.kakaocdn.net/dn/dXZfoH/hyZOG7iEqB/sC1MfNzZRvsKDG1N0Bbwyk/img.png?width=1196&height=863&face=0_0_1196_863"><a href="https://bigbigpark.github.io/ros/ros-pointcloud2-rosbag/" target="_blank" data-source-url="https://bigbigpark.github.io/ros/ros-pointcloud2-rosbag/"><div class="og-image"><img class="thumb_img" src="https://scrap.kakaocdn.net/dn/17zrU/hyZOqDNHZi/FwkbavIavlSeUTPdlzFQdk/img.png?width=1125&height=1125&face=242_411_653_859,https://scrap.kakaocdn.net/dn/b1oGTf/hyZOiAAxKT/REVxZrZSfzLkIJN4290h5K/img.png?width=1194&height=872&face=0_0_1194_872,https://scrap.kakaocdn.net/dn/dXZfoH/hyZOG7iEqB/sC1MfNzZRvsKDG1N0Bbwyk/img.png?width=1196&height=863&face=0_0_1196_863" alt="" xxxxonerror="this.src="//img1.kakaocdn.net/thumb/C200x200/?fname=https%3A%2F%2Ft1.daumcdn.net%2Fcafe_image%2Fcafe_meta_image_190529.png""></div><div class="og-text"><p class="og-title">[ROS/PCL] PointCloud2 샘플데이터 재생 rosbag</p><p class="og-desc">How to visualize PointCloud2 on rviz</p><p class="og-host">bigbigpark.github.io</p></div></a></div><p> </p><p><b>ROS2에서 제공하는 시각화 도구 사용</b></p><p><b><a href="https://carla.org/Doxygen/html/d9/d2f/structcarla_1_1ros2_1_1CarlaPointCloudPublisherImpl.html" target="_blank" class="ke-link">https://carla.org/Doxygen/html/d9/d2f/structcarla_1_1ros2_1_1CarlaPointCloudPublisherImpl.html</a></b></p><div class="figure-open" contenteditable="false" data-ke-type="opengraph" data-ke-align="alignCenter" data-og-type="website" data-og-title="CARLA: carla::ros2::CarlaPointCloudPublisherImpl Struct Reference" data-og-description="Definition at line 58 of file CarlaDVSCameraPublisher.cpp. ◆ _datawriter efd::DataWriter* carla::ros2::CarlaPointCloudPublisherImpl::_datawriter { nullptr } ◆ _participant efd::DomainParticipant* carla::ros2::CarlaPointCloudPublisherImpl::_participan" data-og-host="carla.org" data-og-source-url="https://carla.org/Doxygen/html/d9/d2f/structcarla_1_1ros2_1_1CarlaPointCloudPublisherImpl.html" data-og-url="https://carla.org/Doxygen/html/d9/d2f/structcarla_1_1ros2_1_1CarlaPointCloudPublisherImpl.html" data-og-image="//img1.kakaocdn.net/thumb/C200x200/?fname=https%3A%2F%2Ft1.daumcdn.net%2Fcafe_image%2Fcafe_meta_image_190529.png"><a href="https://carla.org/Doxygen/html/d9/d2f/structcarla_1_1ros2_1_1CarlaPointCloudPublisherImpl.html" target="_blank" data-source-url="https://carla.org/Doxygen/html/d9/d2f/structcarla_1_1ros2_1_1CarlaPointCloudPublisherImpl.html"><div class="og-image"><img class="thumb_img" src="//img1.kakaocdn.net/thumb/C200x200/?fname=https%3A%2F%2Ft1.daumcdn.net%2Fcafe_image%2Fcafe_meta_image_190529.png" alt="" xxxxonerror="this.src="//img1.kakaocdn.net/thumb/C200x200/?fname=https%3A%2F%2Ft1.daumcdn.net%2Fcafe_image%2Fcafe_meta_image_190529.png""></div><div class="og-text"><p class="og-title">CARLA: carla::ros2::CarlaPointCloudPublisherImpl Struct Reference</p><p class="og-desc">Definition at line 58 of file CarlaDVSCameraPublisher.cpp. ◆ _datawriter efd::DataWriter* carla::ros2::CarlaPointCloudPublisherImpl::_datawriter { nullptr } ◆ _participant efd::DomainParticipant* carla::ros2::CarlaPointCloudPublisherImpl::_participan</p><p class="og-host">carla.org</p></div></a></div><p><b>3. 자동차 제어 토픽 발행</b></p><p><b>수동으로 제어하는건 구현이 되어있음</b></p><p><b><a href="https://carla.readthedocs.io/projects/ros-bridge/en/latest/carla_ackermann_control/" target="_blank" class="ke-link">https://carla.readthedocs.io/projects/ros-bridge/en/latest/carla_ackermann_control/</a></b></p><p><a href="https://kimbrain.tistory.com/522" target="_blank" class="ke-link">https://kimbrain.tistory.com/522</a></p><div class="figure-open" contenteditable="false" data-ke-type="opengraph" data-ke-align="alignCenter" data-og-type="website" data-og-title="3. (CARLA Autoware Bridge) Carla에서 차를 움직였을때 Autoware에 표시 되도록 연결하기" data-og-description="이 프로젝트는 CARLA-Autoware Bridge의 완성을 적는 것이 아니라, 이렇게 만들면 Bridge가 가능하다라는 것을 증명하는 프로젝트임을 알립니다. 해당 코드의 converting 과정carla_autoware_bridge/getting-started.md" data-og-host="kimbrain.tistory.com" data-og-source-url="https://kimbrain.tistory.com/522" data-og-url="https://kimbrain.tistory.com/522" data-og-image="https://scrap.kakaocdn.net/dn/pffN6/hyZN43pCKc/Bno0ih4k9MFqZgmFMIReB1/img.png?width=781&height=81&face=0_0_781_81,https://scrap.kakaocdn.net/dn/cNUAxn/hyZN34wxWQ/gpGPHuKnpqseImnf17Jlq1/img.png?width=781&height=81&face=0_0_781_81,https://scrap.kakaocdn.net/dn/guDCd/hyZOmIa3MN/2tlCmWsuTK16dX7chIQtzk/img.png?width=907&height=575&face=0_0_907_575"><a href="https://kimbrain.tistory.com/522" target="_blank" data-source-url="https://kimbrain.tistory.com/522"><div class="og-image"><img class="thumb_img" src="https://scrap.kakaocdn.net/dn/pffN6/hyZN43pCKc/Bno0ih4k9MFqZgmFMIReB1/img.png?width=781&height=81&face=0_0_781_81,https://scrap.kakaocdn.net/dn/cNUAxn/hyZN34wxWQ/gpGPHuKnpqseImnf17Jlq1/img.png?width=781&height=81&face=0_0_781_81,https://scrap.kakaocdn.net/dn/guDCd/hyZOmIa3MN/2tlCmWsuTK16dX7chIQtzk/img.png?width=907&height=575&face=0_0_907_575" alt="" xxxxonerror="this.src="//img1.kakaocdn.net/thumb/C200x200/?fname=https%3A%2F%2Ft1.daumcdn.net%2Fcafe_image%2Fcafe_meta_image_190529.png""></div><div class="og-text"><p class="og-title">3. (CARLA Autoware Bridge) Carla에서 차를 움직였을때 Autoware에 표시 되도록 연결하기</p><p class="og-desc">이 프로젝트는 CARLA-Autoware Bridge의 완성을 적는 것이 아니라, 이렇게 만들면 Bridge가 가능하다라는 것을 증명하는 프로젝트임을 알립니다. 해당 코드의 converting 과정carla_autoware_bridge/getting-started.md</p><p class="og-host">kimbrain.tistory.com</p></div></a></div><p> </p><p> </p><p><b>5. 졸업작품의 대략적인 목표, 세부기능 포함</b></p><p> </p><p><b>대략적인 목표</b></p><p>보드와 시뮬레이터를 연동한 LiDAR 3D 객체인식 및 자율주행 회피 제어 시스템</p><p> </p><p><b>세부기능</b></p><p>1. CARLA 시뮬레이터를 구동해서 테스트환경 조성</p><p> </p><p>- 자율주행 테스트를 위한 도심/고속도로 맵</p><p>- 실제 차량 센서와 유사한 파라미터(64채널 등)를 가진 가상 LiDAR 센서 부착.</p><p>- 보행자 및 차량 등 동적 장애물 생성.</p><p> </p><p>2. CARLA와 Jetson간 실시간 데이터 전송을 위한 네트워크 구축</p><p> </p><p>- ROS2 기반의 토픽(Topic) 발행 및 구독 시스템 구현.</p><p>- carla-ros-bridge 를 활용한 시뮬레이터 데이터의 ROS 메시지 변환.</p><p> </p><p> </p><p>3. 3D 객체 인식 알고리즘 구축 / jetson 보드에서 딥러닝 모델을 구동하여 주변 장애물 위치와 종류 파악</p><p> </p><p>- LiDAR Point Cloud 데이터를 입력받아 전처리(Voxelization 등) 수행.</p><p>- 3D Detection 모델(PointPillars, CenterPoint 등) 추론.</p><p>- 장애물의 종류(차량, 사람) 및 3D 좌표(x, y, z) 실시간 출력.</p><p> </p><p>4. 주행 판단 및 차량 제어 / 인식된 장애물 정보를 바탕으로 주행 경로를 결정하고 차량 제어</p><p> </p><p>- 장애물과의 거리 기반 위험도 판단 구현.</p><p>- Ackermann Kinematics가 적용된 조향 및 속도 명령 생성.</p><p>- 긴급 제동 또는 회피 알고리즘 적용.</p><p><br><b>6. carla에서 초당 영상, 포인트클라우드 최대 처리가능 프레임수 조사해볼것, 필요한 GPU사양</b></p><p> </p><p><b> carla에서 초당 영상 최대 처리가능 프레임수</b></p><div class="table-wrap"><table data-ke-type="table" data-ke-align="alignLeft" style="width: 100%;" border="1"><tbody><tr><td>해상도 (Resolution)</td><td>카메라 1대 (RGB)</td><td>카메라 2대 이상</td><td>비고 (병목 원인)</td><td></td></tr><tr><td>Low (320x240)</td><td>60 FPS+</td><td>40~50 FPS</td><td>ROS 통신 부하 거의 없음</td><td></td></tr><tr><td>SD (640x480)</td><td>30~45 FPS</td><td>20~30 FPS</td><td>가장 권장하는 해상도</td><td></td></tr><tr><td>HD (1280x720)</td><td>20~30 FPS</td><td>10~15 FPS</td><td>데이터 전송 대역폭 한계 시작</td><td></td></tr><tr><td>FHD (1920x1080)</td><td>10~15 FPS</td><td>5~8 FPS</td><td>이미지 용량이 너무 커서 딜레이 발생</td><td></td></tr></tbody></table></div><p> </p><p><b>carla에서 포인트클라우드 최대 처리가능 프레임수</b></p><div class="table-wrap"><table data-ke-type="table" data-ke-align="alignLeft" style="width: 100%; height: 162px;" border="1"><tbody><tr style="height: 36px;"><td style="width: 19.0898%; height: 36px;">센서 모델 (예시)</td><td style="width: 13.0215%; height: 36px;">채널 수</td><td style="width: 20.9861%; height: 36px;">최대 FPS(ROS2 연동 시)</td><td style="width: 24.6523%; height: 36px;">주요 병목 원인</td><td style="width: 2.14918%; height: 36px;"></td></tr><tr style="height: 18px;"><td style="width: 19.0898%; height: 18px;">VLP-16</td><td style="width: 13.0215%; height: 18px;">16채널</td><td style="width: 20.9861%; height: 18px;">30~60 FPS</td><td style="width: 24.6523%; height: 18px;">병목 거의 없음</td><td style="width: 2.14918%; height: 18px;"></td></tr><tr style="height: 36px;"><td style="width: 19.0898%; height: 36px;">HDL-32E</td><td style="width: 13.0215%; height: 36px;">32채널</td><td style="width: 20.9861%; height: 36px;">20~30 FPS</td><td style="width: 24.6523%; height: 36px;">Ray-casting 연산(CPU 부하 시작)</td><td style="width: 2.14918%; height: 36px;"></td></tr><tr style="height: 36px;"><td style="width: 19.0898%; height: 36px;">HDL-64E(KITTI/NuScenes급)</td><td style="width: 13.0215%; height: 36px;">64채널</td><td style="width: 20.9861%; height: 36px;">10~20 FPS</td><td style="width: 24.6523%; height: 36px;">Ray-casting + 대역폭(포인트 수 급증)</td><td style="width: 2.14918%; height: 36px;"></td></tr><tr style="height: 36px;"><td style="width: 19.0898%; height: 36px;">Ultra Puck</td><td style="width: 13.0215%; height: 36px;">128채널</td><td style="width: 20.9861%; height: 36px;">5~10 FPS</td><td style="width: 24.6523%; height: 36px;">물리 연산 과부하(데이터 전송 지연)</td><td style="width: 2.14918%; height: 36px;"></td></tr></tbody></table></div><p> </p>
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첫댓글 Carla외에 자율주행 시뮬레이터 조사하고 성능 비교
ROS2와 연동 여부 조사