FSLART.github.io

Autonomous Driving Technical Documentation

System dependencies

These are the dependencies you need to install beforehand in the operating system:

• ROS Humble
• PyTorch
• LibTorch

or

• Docker

Building and running

Bare metal

• First, you need to setup a ROS workspace. To do that, create a new folder with a src directory inside. This can be for example mkdir -p /home/myusername/ros2_ws/src.

• Place the following repositories in the src subdirectory:
  • lart_msgs: Common team-defined ROS messages.
  • local_mapper: Local mapping (cone detection and back-projection).
  • planner: Path planning
  • Spac: Pure pursuit PID controller

• Install workspace dependencies running rosdep install -i -y --from-path src from the ros2_ws directory.

• Build the workspace running colcon build --symlink-install.

• Source the installation script source install/setup.bash.

• Start each node as stated in the documentation of each repository.

Docker

• Work in progress…