navpilot-framework

→ 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

→ Step 2: Access the Container

Use either bash or zsh to start a shell inside the container.

docker exec -it navpilot_container zsh

→ Step 3: 📦 Install github repository & dependencies

chmod +x setup_file.sh
./setup_file.sh

→ Sensor Launchers

Launch individual or combined sensor configurations as needed:

• For LiDAR only:

ros2 launch sensors_launch velodyne-VLP32C-launch.py

• For IMU only:

ros2 launch sensors_launch vectornav.launch.py

• For LiDAR and IMU combined:

ros2 launch sensors_launch lidar_imu.launch.py

→ 🌏 Launchers for mapping

Run the following commands to initialize mapping processes:

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

→ 🌏 Launchers for localization

Run the following commands to initialize mapping processes:

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

ros2 launch /workspace/navpilot_ws/src/path_planning/launch/localization.launch.py

→ 📢 Code Modifications Before colcon build

Before building the package, make the following changes to the file lidar_localization_component.cpp located in the src directory of lidar_localization_ros2. These adjustments will modify the default subscriber topics to match the correct topics of the car. Navigate to lidar_localization_ros2/src/lidar_localization_component.cpp and change the lines 234 and 238 for this ones:

  cloud_sub_ = create_subscription<sensor_msgs::msg::PointCloud2>(
      "points_rotated", rclcpp::SensorDataQoS(),
      std::bind(&PCLLocalization::cloudReceived, this, std::placeholders::_1));

  imu_sub_ = create_subscription<sensor_msgs::msg::Imu>(
      "vectornav/imu", rclcpp::SensorDataQoS(),
      std::bind(&PCLLocalization::imuReceived, this, std::placeholders::_1));

record rosbag mcap

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

play a ros bag

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

ros2 bag play vanttec_sdv_localization_20250623 -s mcap

TODO:

• add this to the setup.sh git clone https://github.com/KIT-MRT/mrt_cmake_modules.git
• to build it:

colcon build --packages-select mrt_cmake_modules colcon build --packages-select polygon_msgs colcon build --packages-select polygon_rviz_plugins colcon build --packages-select polygon_demos colcon build --packages-select polygon_utils colcon build --packages-select traffic_information_msgs source install/setup.bash colcon build --packages-select lanelet2_core colcon build --packages-select lanelet2_maps colcon build --packages-select lanelet2_io 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 lanelet2_python colcon build --packages-select lanelet2_examples colcon build --packages-select map_visualizer colcon build --packages-select waypoints_routing

colcon build --packages-select path_planning_dynamic

colcon build --packages-select obstacles_information_msgs colcon build --packages-select pointcloud_clustering

sudo apt install ros-$ROS_DISTRO-vision-opencv sudo apt install ros-$ROS_DISTRO-grid-map-ros sudo apt install ros-$ROS_DISTRO-grid-map-cv sudo apt install ros-$ROS_DISTRO-cv-bridge

colcon build --packages-select yaw_test

colcon build --packages-select local_path_planning

ros2 launch sensors_launch velodyne-VLP32C-launch.py

ros2 launch /workspace/navpilot_ws/src/path_planning/launch/localization.launch.py

./pointcloud_viewer

/workspace/navpilot_ws/src/hdmap_stack/hdmap_visualizer/osms/1_new66.osm

/workspace/models/sdv.glb

/workspace/models/stop_callejero.ply

ros2 launch /workspace/navpilot_ws/src/hdmap_stack/launch/map.launch.py

ros2 launch path_planning_dynamic planning.launch.py

ros2 launch /workspace/navpilot_ws/src/hdmap_stack/launch/map.launch.py

ros2 bag play /workspace/navpilot_ws/src/mcap_reader/output_callejon_filtered.mcap --clock

python3 /workspace/navpilot_ws/src/path_planning/robot_move_test.py

ros2 launch path_planning_dynamic planning.launch.py

rviz2

problem for the future

if the map is bigger when gettin the path and the nehibours the waypoints vector will be larger and the fucntion compute_closest_waypoint will not work because it only compute in windows of 100 waypoints. so before in the global planner will be good to ordonate the waypoints based on distances and then store them.