VIA SDK - ROS2-based architecture for autonomous robots

VIA project: https://via.makerviet.org/.

I. Setup development environment

1. Native development

Requirements

• Ubuntu 20.04
• ROS 2 Foxy
• camera_info_manager
• image_transport

2. Using Docker

Requirements

• Visual Studio Code
• ROS 2: Foxy/Dashing
• Docker

Step 1: Clone source code and Open in container - VS Code

Step 2: Wait for Docker pull and start your contributions

ROS 2 Cheatsheet: https://github.com/ubuntu-robotics/ros2_cheats_sheet.

II. Demo

1. VIA Simulation Autopilot

This demo shows how to run VIA Autonomous to control a self-driving car in simulation environment.

• Download the Simulation here - Only Linux suppported for now, you can clone the source code and build your simulation for other OSes.

• Run the simulation and select a map.

• Build all packages

sh scripts/build.sh
source install/setup.bash

• Run autonomous stack

ros2 launch via_bringup via_car_simulation.py

2. Camera node demo

This demo shows you how to use VIA generic_camera_node to capture images from a camera and publish them to a ROS topic.

• Build all packages

sh scripts/build.sh
source install/setup.bash

• Launch camera node

ros2 launch generic_camera_node camera_node.launch.py

• Start camera stream

ros2 service call /camera/start std_srvs/srv/Trigger "{}"

• Open image viewer to see the published images

ros2 run rqt_image_view rqt_image_view

• Stop camera stream

ros2 service call /camera/stop std_srvs/srv/Trigger "{}"

III. Issues

1. No ROS node name when using ros2 node list:

Restart ROS 2 deamon:

bash scripts/restart_ros2_deamon.sh

2. Missing ROS 2 packages?

Please ensure that you have built the project with sh scripts/build.sh and sourced the installation environment:

source install/setup.bash

IV. Contact

This project is co-developed by VIA & AIR.

• VIA Team: makerhanoi@gmail.com
• AIR Team: air.team.2050@gmail.com