lexus_bringup ROS2 package

🚗 ROS2 package for basic functions on Lexus rx450h

Build

It is assumed that the workspace is ~/ros2_ws/.

Terminal 1 🔴 clone

cd ~/ros2_ws/src
git clone https://github.com/jkk-research/lexus_bringup

Terminal 1 🔴 build

cd ~/ros2_ws
colcon build --packages-select lexus_bringup

Terminal 2 🔵 run

source ~/ros2_ws/install/local_setup.bash && source ~/ros2_ws/install/setup.bash
ros2 launch lexus_bringup gps_duro_reference.launch.py
ros2 launch lexus_bringup can_pacmod3.launch.xml
ros2 launch lexus_bringup os_64_center_a.launch.py 
ros2 launch lexus_bringup zed_default_a.launch.py 
ros2 launch lexus_bringup rviz00.launch.py 
ros2 run    lexus_bringup speed_control

Useful

dev@u22glx:~$ colcon_cd lexus_bringup
dev@u22glx:~/ros2_ws/src/lexus_bringup(main)$ 

ros2 interface show pacmod3_msgs/msg/SystemCmdFloat

ros2 run tf2_ros static_transform_publisher --x 697237.0 --y 5285644.0 --z 0.0 --qx 0.0 --qy 0.0 --qz 0.0 --qw 1.0 --frame-id map --child-frame-id map_gyor_0
ros2 run tf2_ros static_transform_publisher --x 639770.0 --y 5195040.0 --z 0.0 --qx 0.0 --qy 0.0 --qz 0.0 --qw 1.0 --frame-id map --child-frame-id map_zala_0

ros2 topic pub /pacmod/parsed_tx/vehicle_speed_rpt pacmod3_msgs/msg/VehicleSpeedRpt "{header: {stamp: {sec: 0, nanosec: 0}, frame_id: 'map'}, vehicle_speed: 0.1, vehicle_speed_valid: true}"

Zed install

colcon build --symlink-install --packages-select zed_interfaces zed_components zed_wrapper zed_ros2 --cmake-args=-DCMAKE_BUILD_TYPE=Release

Duro install

cd ~/ros2_ws/src
git clone https://github.com/szenergy/duro_gps_driver/
cd ~/ros2_ws/src/duro_gps_driver
git checkout ros2-humble
cd ~/ros2_ws
colcon build --packages-select duro_gps_driver

3D marker install

cd ~/ros2_ws/src
git clone https://github.com/szenergy/rviz_markers
cd ~/ros2_ws/src/rviz_markers
git checkout ros2-humble
cd ~/ros2_ws
colcon build --packages-select rviz_markers

GUI install

cd ~/ros2_ws/src
git clone https://github.com/jkk-research/gui_lexus
cd ~/ros2_ws
colcon build --packages-select gui_lexus

CAN - PACMod3 - Kvaser install

• Install Pacmod3
• Install Kvaser
• Install Kvaser ROS Interface

Mako install

cd ~/ros2_ws/src
git clone https://github.com/astuff/avt_vimba_camera.git
cd ~/ros2_ws/src/avt_vimba_camera
git checkout ros2_master
cd ~/ros2_ws
colcon build --packages-select avt_vimba_camera

Build some important packages

colcon build --symlink-install --packages-select arj_simple_perception demo_jkk duro_gps_driver gui_lexus gui_teleop kalman_pos kiss_icp lexus_bringup lidar_cluster mcap_rec mpc_camera_driver mpc_controller novatel_gps_driver novatel_gps_msgs ouster_msgs ouster_ros ouster_sensor_msgs pacmod_extender patchworkpp pointcloud_manager pose_repub rviz_markers time_utils timing_benchmark wayp_plan_tools 

colcon list