Welcome to the central documentation repository for the ESTACA Mini Ville project. This repository contains all the necessary information to set up, develop, and operate the Mini Ville ecosystem, including the autonomous JetRacer cars, the supervision server, and the communication bridges.
Each component of the Mini Ville has its own dedicated documentation:
| Package | Description | Link |
|---|---|---|
| JetRacer Setup CLI | Tooling to configure and install software on JetRacer cars. | Documentation |
| Miniville Supervision | Web dashboard to monitor and control the city and the cars. | Documentation |
| Types | Shared message definitions (IDL) for DDS communication. | Documentation |
| ROS-DDS Bridge | Interface between ROS 2 nodes and the global DDS network. | Documentation |
| DDS-WS Bridge | Bridge between DDS and WebSockets for the supervision dashboard. | Documentation |
| Traffic Light Manager | Logic for controlling and broadcasting traffic light states. | Documentation |
| Waypoint Navigation | Autonomous navigation system for the JetRacer cars. | Documentation |
New to the project? Follow these guides to get everything up and running.
- JetRacer Car Setup: How to set up a new JetRacer car from scratch and install all requirements.
- Server Side Setup: Installing the required repositories and launching the global
docker-compose. - Operating a Car: How to turn on a car and start the required packages using custom launch files.
General documentation and resources relevant to the project:
- Infrastructure & Tools
- Docker Documentation - Containerization platform.
- Git Guides - Version control system.
- Communication & Robotics
- OpenDDS / FastDDS (DDS) - Data Distribution Service standard.
- eProsima Downloads - If you need to download anything from eProsima without filling their form again.
- ROS Documentation - Robot Operating System.
- Hardware
- Waveshare JetRacer Wiki - Official hardware setup and documentation.
- NVIDIA Jetson Nano - Processing unit used in the cars.
This documentation is maintained by the ESTACA Mini Ville team.