DRIVERLESS2

Table of Contents

1. Introduction
2. Manual installation
3. Repository node structure
4. Principal launch files

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Introduction

This guide provides comprehensive details on how to install and configure the DRIVERLESS2 enviroment, along with an overview of its repository node structure and launch file organization. For a more detailed explanation of the code structure and functionality of each node, please refer to the DRIVERLESS2 documentation.

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Manual installation

Prerequisites

• Ensure that you have Ubuntu 22.04 LTS correctly installed.

• Verify that git is installed in your environment. You can check this by running:

  git --version

Step-by-step installation

1. Create your workspace environment:

   Create a workspace directory for your ROS packages. You can do this by running:

   mkdir -p /ws/src

2. Clone the repository:

   cd /ws/src
   git clone git@github.com:ARUSfs/DRIVERLESS2

   Also, clone the following auxiliary repository:

   git clone git@github.com:ARUSfs/ARUSSim

   This repository contains the simulation environment and additional tools required for the project.

3. ROS2 Humble installation (optional):

   Ensure you have ROS2 Humble installed by the following command:

   ls ~/opt/ros/

   If you don't see humble in the list, you can install it by selecting the first option from the update_dependencies.sh script:

   cd /ws/src/DRIVERLESS2
   # Select option 1
   ./update_dependencies.sh

   This script will automatically install the necessary for ROS2 Humble.

   If you already have ROS2 Humble installed, please make sure to have the following command line in your ~/.bashrc file:

   source /opt/ros/humble/setup.bash

   If you don't have it, add it by running:

   echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
   source ~/.bashrc

4. Install dependencies:

   cd /ws/src/DRIVERLESS2
   # Select option 2
   ./update_dependencies.sh

   This script will automatically install all the dependencies required for the project.

5. Setup and build the workspace:

   # Setup the workspace
   echo "source ~/ws/install/setup.bash" >> ~/.bashrc
   source ~/.bashrc
   
   # Build the workspace
   cd /ws
   colcon build

   This command will compile all the packages in your workspace and create the necessary build files.

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Repository node structure

The repository is divided into several packages, each addressing a specific functionality to maintain modularity and scalability in the autonomous car system. The packages include:

• car_state: manages vehicle sensor data and state estimation.
• common: provides shared utilities and all launch files for the project.
• control: implements algorithms and controllers responsible for vehicle maneuvering.
• interfaces: facilitates communication between different system components, such as CAN, EPOS4 and simulation interfaces.
• perception: processes sensor inputs for LiDAR data.
• planning: contains path planning and decision-making algorithms for navigation.
• slam: offers simultaneous localization and mapping (SLAM) capabilities.
• visualization: provides tools for visualizing and debugging system states.

Additionally, each package follows a standard structure to maintain consistency:

• config/: contains configuration files and parameters, if needed (<package_name>_config.yaml).
• include/<package_name>: holds header files (.h and .hpp) used by the package.
• launch/: includes the launch file (<package_name>_launch.py) for starting the package nodes.
• src/: contains the core code files (<package_name>_node.cpp).
• CMakeLists.txt: the CMake build configuration file for the package.
• package.xml: the package manifest file that defines the package's metadata and dependencies.

Principal launch files

The main launch files are located in the common/common_meta/launch directory. These files are responsible for starting the various nodes and components of the system. The main launch files include:

• simulation_launch.py: launches the simulation environment for testing and development.
• inspection_launch.py: launches the inspection controller for the inspection event.
• acceleration_launch.py: launches all necessary nodes for the acceleration event.
• skidpad_launch.py: launches all necessary nodes for the skidpad event.
• autocross_launch.py: launches all necessary nodes for the autocross event.
• trackdrive_launch.py: launches all necessary nodes for the trackdrive event.
• record_launch.py: launches the rslidar and can_interface nodes for recording data.