Fener Vehicle ROS2

Fener's ROS2 codes that runs on the vehicle. This node contains basic sensing and actuation nodes for vehicle control. Also example applications will be added.

Related

This project is related to these project listed below.

Fener's Arduino Code

Fener Console Ros2

Installation

First be sure that you have ROS2 Eloquent on your processing unit.

todo ADD ALL REQUIREMENTS

  git clone https://github.com/sezer-muhammed/Fener-Vehicle-Repo-v1.git
  cd Fener-Vehicle-Repo-v1
  colcon build --symlink-install

Nodes and Usage

Node	Command
BNO055 IMU Data Publisher	ros2 run fener_package bno055_pub
Lidar Data Publisher	ros2 run fener_package lidar_pub
Driver and Encoder	ros2 run fener_package driver
Solo Camera Publisher	ros2 run fener_package solo_cam_pub

BNO055 IMU Data Publisher

This Node publishes vehicles oriantation and angular velocity as Float32MultiArray.

Example subscriber callback

def bno055_callback(self, msg):
    self.bno055_data = msg.data

Lidar Data Publisher

This Node publishes vehicles Lidar data as Int32MultiArray.

Example subscriber callback

def lidar_callback(self, msg):
    self.lidar_data = np.array(msg.data).reshape(-1, 2)

Driver and Encoder Node

This Node drives the vehicle according to related topics and publishes encoder data as Int64MultiArray.

Example subscriber callback

def encoder_callback(self, msg): 
    self.encoder_data = msg.data

Solo Camera Publisher

This Node publishes left camera image as CompressedImage

Authors

Thanks

• @katherinepeterson