In this section, we will see how to interface a real car with ROS and make it autonomous. As we discussed earlier, the DBW interface enables us to control a vehicle's throttle, brake, and steering using the CAN protocol.

There's an existing open source project that does this job. The project is owned by a company called Dataspeed Inc. (http://dataspeedinc.com/). Here is the list of projects related to self-driving cars from Dataspeed: https://bitbucket.org/DataspeedInc/.

We are going to discuss Dataspeed's ADAS vehicle development project. First, we will see how to install the ROS packages of this project and look at the functionality of each package and node.