nd0013_cd2693_Exercise_Starter_Code

Dependencies

Before you practice the exercises in this repository, ensure that your development environment is configured with the following tools and dependencies:

• CARLA simulator 0.9.9.4
• NICE DCV Server. This step will install Nvidia drivers along with CUDA libraries for the underlying Tesla T4 GPU
• C++
• Git
• OpenCV
• CMake and Make
• VSCode, or a similar IDE
• Eigen Library for C++
• Point Cloud Library
• Python3 and Pip
• ROS

Instructions

Step 1: Fork and Clone the Repository

Fork the repository to your Github account and clone it to your local development environment using the following commands:

git clone https://github.com/udacity/nd0013_cd2693_Exercise_Starter_Code.git
cd nd0013_cd2693_Exercise_Starter_Code

Next, select the lesson you want to practice. The sections below outline the lesson-specific instructions.

Step 2: Practice the Exercises or the Project

Lesson_2_C++_Checkpoint Exercises

Navigate to the individual challenge sub-directory containing the main.cpp file. For example, change to the challenge1/ solution directory.

cd Lesson_2_C++_Checkpoint/solutions/solution1/

Update the main.cpp file where needed, and execute the following commands.

g++ main.cpp
./a.out

Lesson_3_Markov_Localization Exercises

Change to the specific exercise directory, compile the main.cpp file, and execute the a.out. For example, the command below will help you run the 1-initialize-priors-function exercise solution.

cd Lesson_3_Markov_Localization/markov/1-initialize-priors-function

Refer to the Guide-[exercise-name].ipynb for the specific instructions on how to update the main.cpp file. If you need help, you can compare your edits with the provided solution.

cd solution
g++ main.cpp  
./a.out

Lesson_4_Intro_to_PCL Exercises

Refer to the exercise starter files in the repository.

cd Documents
git clone https://github.com/udacity/SFND_Lidar_Obstacle_Detection.git
cd SFND_Lidar_Obstacle_Detection

Here is the file structure in the Github repository linked above.

.
├── CMakeLists.txt
├── CODEOWNERS
├── README.md
├── media
│   └── ObstacleDetectionFPS.gif
└── src
    ├── environment.cpp
    ├── processPointClouds.cpp
    ├── processPointClouds.h
    ├── quiz
    │   ├── cluster
    │   └── ransac
    ├── render
    │   ├── box.h
    │   ├── render.cpp
    │   └── render.h
    └── sensors
        ├── data
        └── lidar.h

Refer the README.md for specific instructions.

Lesson_5_Creating_Scan_Matching_Algorithms

cd Lesson_5_Creating_Scan_Matching_Algorithms

This lesson has the following exercises.

.
├── Exercise-Intro-to-ICP
├── Exercise-Creating-ICP
└── Exercise-Creating-NDT

The specific commands for each exercise are available in the respective sub-directory. Follow the instructions per the respective README files.

Exercise	README
Exercise-Intro-to-ICP	README
Exercise-Creating-ICP	README
Exercise-Creating-NDT	README

Lesson_6_Utilizing_Scan_Matching

cd Lesson_6_Utilizing_Scan_Matching

This lesson has the following exercises.

.
├── Exercise-ICP-Alignment
├── Exercise-Mapping
└── Exercise-NDT-Alignment

The specific command for each exercise in available in the respective sub-directory. Follow the instructions per the respective README files.

Exercise	README
Exercise-ICP-Alignment	README
Exercise-NDT-Alignment	README
Exercise-Mapping	README

Lesson_7_Project_Scan_Matching_Localization

Navigate to the project starter code director.

cd nd0013_cd2693_Exercise_Starter_Code/Lesson_7_Project_Scan_Matching_Localization/c3-project

Follow the instructions per the specific README.