Description

Traffic light fetcher ros package that detects traffic light from an input video stream and publishes related information.

Structure

├── ...
├── src
│   ├── traffic_light_fetcher          # ROS nodes
│      │── nodes
│      │   ├── traffic_light_fetcher
│      │   │   │── tl_fetcher
│      │   │   │── tl_analysis
│      │...
│      │── src                         # Modules
│      │   ├── traffic_light_fetcher
│      │   │   │── tl_detection.py

How to run

Note: Docker container uses host's gpu device.

• Using docker-compose

docker-compose up --build

• Using run script (if docker-compose is not installed)

cd <repo directory>
./run

Visualize

For visualizing detections subscribe to /traffic_light_image topic in rviz