About

This repository is for the Localization part of the Autonomous-Driving-System project. The included ROS2 packages generate vehicle odometry from LIDAR scan data obtained from ECU-Core.

Requirements

• Ubuntu 20.04

• ROS2 setup

  Follow the instruction of ROS2 foxy setup.

Usage

# Execute on the local machine
colcon build
source install/setup.bash

ros2 launch ros2_laser_scan_matcher odom_estimator.launch.py

ros2 run odom_converter odom_converter

Note

The ROS2 topic communication is machine-to-machine. Make sure that both ECU-Core and local machine are connected to the same WLAN. If the connection is not successful, disable the firewall using the following command.

# Execute on the ECU-Core and local machine
sudo ufw disable

Reference

• ros2_laser_scan_matcher