Fener Vehicle ROS2
Fener's ROS2 codes that runs on the vehicle. This node contains basic sensing and actuation nodes for vehicle control. Also example applications will be added.
Related
This project is related to these project listed below.
Installation
First be sure that you have ROS2 Eloquent on your processing unit.
todo ADD ALL REQUIREMENTS
git clone https://github.com/sezer-muhammed/Fener-Vehicle-Repo-v2.git
cd Fener-Vehicle-Repo-v2
colcon build --symlink-install
Nodes and Usage
Node | Command |
---|---|
BNO055 IMU Data Publisher | ros2 run fener_package_v2 bno055_pub |
Lidar Data Publisher | ros2 run fener_package_v2 lidar_pub |
Driver and Encoder | ros2 run fener_package_v2 driver |
Solo Camera Publisher | ros2 run fener_package_v2 solo_cam_pub |
BNO055 IMU Data Publisher
This Node publishes vehicles IMU data as IMU.
Lidar Data Publisher
This Node publishes vehicles Lidar data as LaserScan.
Driver and Encoder Node
This Node drives the vehicle according to related topics and publishes encoder data as Int64MultiArray.
Example subscriber callback
def encoder_callback(self, msg):
self.encoder_data = msg.data
Solo Camera Publisher
This Node publishes left camera image as CompressedImage