IPB-Car meta-workspace

NOTE: This is a reference repository, Without the hardware setup using this code does not make any sense. It has been released to serve as a starting point for research teams/labs that want to implement the meta-workspace idea. If you want to know more about the infrastructure design, please check our paper

Installation

You only need to clone to code into a local ROS workspace (mkdir -p ~/ipb_car/ros_ws/ && cd ~/ipb_car/ros_ws/) in the host machine:

git clone git@github.com:ipb-car/meta-workspace.git 

Build

make

Networking setup

On your machine, you can choose to use the host network or the virtual one. Choosing the host network will give you internet access. If you use the virtual one, you MUST specify which network interface to use, but this can stream data from the ipb-car to your machine.

Alternatively, you can also add the changes to an .env file to make them persistent.

Specifying NETWORK_INTERFACE

export NETWORK_INTERFACE=eth0 # might be different on your machine!

Specifying NETWORK_MODE

export NETWORK_MODE=host

Launch

make launch

Record

make record

Documentation

make docs

Additionally, all the documentation of the car setup can be found at our wiki.

Citation

If you use this meta-workspace for any academic work, please cite our original paper

@inproceedings{vizzo2023itscws,
  title         = {{Toward Reproducible Version-Controlled Perception Platforms: Embracing Simplicity in Autonomous Vehicle Dataset Acquisition}},
  author        = {Vizzo, Ignacio and Mersch, Benedikt and Nunes, Lucas and Wiesmann, Louis and Guadagnino, Tiziano and Stachniss, Cyrill},
  booktitle     = {Worshop on Building Reliable Datasets for Autonomous Vehicles, IEEE Intl.~Conf.~on Intelligent Transportation Systems (ITSC)},
  year          = 2023
}