TrafficSenseAI - ROS2 Traffic Light Detection System

NOTE : to check the latest version that I am sure that it is working correctly , check out to the

feature-from-old-commit branch

Prerequisites

• Ubuntu 22.04
• Internet connection
• Root/sudo access

Setup Instructions

1. Add User to Sudoers (if needed)

su -
usermod -aG sudo <your-username>
exit

Note: Log out and log back in for changes to take effect.

2. Clean Existing Conflicts (if any)

sudo rm -f /etc/apt/sources.list.d/vscode.list
sudo rm -f /etc/apt/keyrings/packages.microsoft.gpg
sudo rm -f /usr/share/keyrings/microsoft.gpg
sudo apt update

3. Run Setup Script

Navigate to the project directory and execute the configuration script:

cd ~/Desktop/TrafficSenseAI
sudo bash ./bashScriptCOnfig.sh

The script performs the following operations:

• Installs ROS2 Humble
• Installs Gazebo simulator
• Installs Python tools (numpy, scipy, matplotlib, pandas)
• Installs robotics packages (URDF, XACRO, robot state publisher)
• Builds the workspace
• Configures the environment

4. Source Environment

source ~/.bashrc

Alternatively, source manually:

source install/setup.bash

5. Build Workspace (if needed)

cd ~/Desktop/TrafficSenseAI
colcon build
source install/setup.bash

Running the Simulation

Launch Gazebo with Robot

cd ~/Desktop/TrafficSenseAI
source install/setup.bash
ros2 launch robot_description gazebo.launch.py

Run Traffic Detection (in new terminal)

cd ~/Desktop/TrafficSenseAI
source install/setup.bash
python3 src/traffic_light_robot/traffic_detector.py

Project Structure

TrafficSenseAI/
├── src/
│   ├── robot_description/      # Robot URDF, meshes, worlds
│   │   ├── launch/
│   │   ├── urdf/
│   │   ├── meshes/
│   │   └── worlds/
│   └── traffic_light_robot/    # Python detection scripts
├── build/                      # Build files
├── install/                    # Installation files
├── log/                        # Build logs
└── bashScriptCOnfig.sh        # Setup script

Operation Modes

Building the Packages

cd ~/Desktop/TrafficSenseAI
colcon build --symlink-install
source install/setup.bash

Autonomous Mode

ros2 launch robot_description autonomous.launch.py

Teleop Mode (AZERTY)

Terminal 1 - Launch Gazebo:

ros2 launch robot_description gazebo.launch.py

Terminal 2 - Run Teleop:

source ~/Desktop/TrafficSenseAI/install/setup.bash
ros2 run robot_description azerty_teleop.py

If azerty_teleop is not executable:

chmod +x ~/Desktop/TrafficSenseAI/src/robot_description/scripts/azerty_teleop.py

Keyboard Control Installation

sudo apt install ros-humble-teleop-twist-keyboard xterm -y

Visualization

Rebuild Traffic Light Robot Package

cd ~/Desktop/TrafficSenseAI
colcon build --packages-select traffic_light_robot
source install/setup.bash

Run Visualizer

ros2 launch robot_description autonomous.launch.py

In a new terminal:

ros2 run traffic_light_robot visualizer_node

Controller Tuning

cd ~/Desktop/TrafficSenseAI
colcon build --packages-select traffic_light_robot
./auto_tune.sh

Troubleshooting

Permission Denied

Ensure the user is added to the sudo group and has logged out and back in after the change.

Package Not Found

sudo apt update
source /opt/ros/humble/setup.bash

Gazebo Launch Issues

Verify that the workspace is properly sourced:

source install/setup.bash

Build Errors

Clean and rebuild the workspace:

rm -rf build install log
colcon build

Common Commands

Rebuild workspace:

colcon build

Clean build:

colcon build --cmake-clean-cache

Source workspace:

source install/setup.bash

List available launch files:

ros2 launch robot_description <TAB><TAB>

Check ROS topics:

ros2 topic list

Dependencies

• ROS2 Humble
• Gazebo
• Python 3.10+
• NumPy, SciPy, Matplotlib, Pandas
• robot_state_publisher, joint_state_publisher
• XACRO, URDF tools

Development Roadmap

1. Implementation of YOLO small version
2. Testing of YOLO system
3. Implementation of hybrid version (YOLO + HSV)
4. Addition of pedestrian entities to world implementation
5. Refactoring of world into improved version
6. System documentation and iteration reporting