Sensor platform built on NVIDIA Jetson Orin NX. Designed to be modular and work with foxglove for visualization.
- Flashed Jetson Nano. Developed for Jetpack 6.2.2.
- Unitree L2 Lidar
- Lidar should be configured to serial connection, not ethernet.
- A realsense or zed camera with the required sdk.
- Ros humble
1. Clone this repository and setup dependencies.
git clone https://github.com/Princeden/sensorPlatform.git cd sensorPlatform rosdep install --from-paths src --ignore-src -r -y colcon build
2. Launch `ros2 launch sensor_platform sensor_platform.launch.py`
3. Visualize / tune LiDAR via gui. Should be able to see both lidar point cloud and camera feed. Note that this platform will prioritize viewing ZED cameras oveer realsense.