🚗 SDV_ROS2

Official ROS2 software stack for the VANTTEC Self-Driving Vehicle (SDV)

This repository contains all modules required to operate the VANTTEC autonomous vehicle,
including acceleration, steering, braking, lighting, LiDAR processing, IMU fusion,
localization, mapping, and path planning.

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📘 Quick Navigation

Getting Started •
Setup •
Launching the System •
Sensors •
Mapping •
Localization •
Path Planning •
SDV Control •
CAN Communication •
Recording Bags

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Getting Started

Requirements

• Linux distribution (Ubuntu 22.04 recommended)
• ROS 2 Humble
• At least 8 GB RAM with 12GB of swap recommended

🔧 Setup

Run the environment setup script:

source setup.sh --target local --sync

With Docker (recommend)

Inisde of docker directory.

Step 1: Build the Docker Image

sudo docker compose build

Step 2: Start the Container

The -d flag ensures the container runs in detached mode (in the background).

sudo docker compose up -d

Common error: invalid subinterface vlan name or similar, Just comment out all the lines inside Docker Compose, lidar_net: and its content, just apply on personal computers if you won't use the LiDAR.

Step 3: Access the Container

Use zsh to start a shell inside the container.

docker exec -it sdv_container zsh

Step 4: 📦 Install GitHub repositories & dependencies (colcon build)

The repository is mounted inside the container at /workspace.

If you are not already in /workspace, run:

cd /workspace

Run the setup/build script:

chmod +x setup.sh
source setup.sh --target docker --shell zsh --sync

Note: The argument sync is for update the repositories of navpilot (do git pull).

Building Packages of ROS2

If you need to compile everything from zero, list of all packages:

colcon build --packages-select pointcloud_rotation
colcon build --packages-select lidar_imu_sync
colcon build --packages-select robot_description
colcon build --packages-select vectornav_msgs 
colcon build --packages-select vectornav
colcon build --packages-select velodyne_msgs 
colcon build --packages-select velodyne_driver 
colcon build --packages-select velodyne_laserscan
colcon build --packages-select velodyne_pointcloud
colcon build --packages-select velodyne
colcon build --packages-select lio_sam
colcon build --packages-select ndt_omp_ros2
colcon build --packages-select lidar_localization_ros2
colcon build --packages-select sensors_launch
colcon build --packages-select sdv_msgs
colcon build --packages-select sdv_control
colcon build --packages-select sdv_can
colcon build --packages-select sdv_velocity
colcon build --packages-select mrt_cmake_modules
colcon build --packages-select polygon_msgs 
colcon build --packages-selectp olygon_rviz_plugins 
colcon build --packages-select polygon_utils
colcon build --packages-select obstacles_information_msgs
colcon build --packages-select traffic_information_msgs
colcon build --packages-select pointcloud_clustering 
colcon build --packages-select lanelet2_core
colcon build --packages-select lanelet2_io
colcon build --packages-select lanelet2_maps 
colcon build --packages-select lanelet2_projection
colcon build --packages-select lanelet2_traffic_rules
colcon build --packages-select lanelet2_routing 
colcon build --packages-select lanelet2_validation
colcon build --packages-select waypoints_routing
colcon build --packages-select path_planning_dynamic

📌 Related Framework

This repository implement many software of this another repository:

🔗 NavPilot Framework (Armando Genis, vanttec member) https://github.com/armando-genis/navpilot-framework

How to Launch

Start the full SDV stack:

source launch.sh

Inside of docker

source launch.sh --shell zsh

This script launches multiple modules via tmux, so each subsystem runs in its own terminal panel.

Some extras commands

Sensor stack

→ 🛰️ LiDAR + IMU Launch

ros2 launch sensors_launch lidar_imu.launch.py

Mapping Launchers

Initialize mapping processes:

ros2 launch /workspace/src/mapping_modules/launcher/mapping.launch.py

Localization Launchers

Run localization modules:

ros2 launch /workspace/src/localization_modules/launch/localization.launch.py

Path Planning Launchers

ros2 launch navpilot-framework/src/path_planning/launch/planning_obstacles.launch.py

SDV Control

Launch the control node:

ros2 launch sdv_control control_launch.py

CAN Communication

Start the CAN node:

ros2 run sdv_can sdv_can_node

Steering Services (provided by CAN)

Set steering control mode:

ros2 service call /sdv/steering/set_mode sdv_msgs/srv/Uint8 "{data: 1}"

Reset the steering encoder:

ros2 service call /sdv/steering/reset_encoder std_srvs/srv/Empty "{}"

Recording Bags

Record Rosbag (MCAP format)

ros2 bag record --storage mcap --all --output vanttec_sdv_localization_20250623

Play Rosbag

rviz2 -d /workspace/src/localization_modules/launch/localization.rviz

ros2 bag play vanttec_sdv_localization_20250623 -s mcap

Read more about the official documentation here.