Main AV software stack setup repository
To clone all relevant repos:
- Clone this repository in a ROS workspace (i.e. ros_ws/src/):
git clone [email protected]:ipab-rad/tartan_carpet.git
- Install vcstool (After ROS is sourced):
sudo apt update && sudo apt install python3-vcstool
- Then, from the tartan_carpet repo, run:
# Create src directory
mkdir src
# Import AV repos and submodules
vcs import --recursive --input av.repos ./src
These include tools and other repos non-essential for running the stack
# Import AV extra repos and submodules
vcs import --recursive --input extra.repos ./src
This will pull the latest commits for the target branch of all repos
# Pull latest code for all repos recursively
vcs pull -n
To run any node on your machine, you need to tweak the maximum Linux Kernel receive buffer to allow high throughput messaging:
-
Create a Configuration File:
sudo touch /etc/sysctl.d/10-cyclone-max.conf
-
Set the Maximum Receive Buffer:
echo "net.core.rmem_max=2147483647" | sudo tee /etc/sysctl.d/10-cyclone-max.conf
-
Reload System Configuration:
sudo sysctl --system
Alternatively, you can apply the change for the current session only (the changes will be forgotten after a reboot):
sudo sysctl -w net.core.rmem_max=2147483647
To run all vehicle sensors, including drive-by-wire, use the following command
docker compose -f ./sensors_compose.yaml up
If the docker images are not already downloaded, they will be automatically fetched from the GitHub Docker registry. Ensure you have access to the GitHub Docker registry; please contact @GreatAlexander or @hect95 for access details.
To stop the sensors, press Ctrl + C
in the same terminal. Additionally, you
can remove the created Docker containers with:
docker compose -f ./sensors_compose.yaml down