🚗 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.

---

📘 Quick Navigation

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

---

Getting Started

Requirements

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

🔧 Setup

Run the environment setup script:

source setup.sh

Building Packages of ROS2

If you need to compile everything from zero:

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 vectornav
colcon build --packages-select velodyne_msgs velodyne_driver velodyne_laserscan velodyne_pointcloud 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
source install/setup.bash
colcon build --packages-select sdv_control sdv_can
colcon build --packages-select mrt_cmake_modules
colcon build --packages-select polygon_msgs polygon_rviz_plugins polygon_utils
colcon build --packages-select obstacles_information_msgs traffic_information_msgs
source install/setup.bash
colcon build --packages-select pointcloud_clustering lanelet2_core
source install/setup.bash
colcon build --packages-select lanelet2_maps lanelet2_projection lanelet2_traffic_rules
source install/setup.bash
colcon build --packages-select lanelet2_routing lanelet2_io lanelet2_validation
source install/setup.bash
colcon build --packages-select waypoints_routing
colcon build --packages-select path_planning_dynamic
source install/setup.bash

📌 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

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.