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.
This project is related to these project listed below.
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-v2.git cd Fener-Vehicle-Repo-v2 colcon build --symlink-install
Nodes and Usage
|BNO055 IMU Data Publisher||
|Lidar Data Publisher||
|Driver and Encoder||
|Solo Camera Publisher||
BNO055 IMU Data Publisher
This Node publishes vehicles IMU data as IMU.
Lidar Data Publisher
This Node publishes vehicles Lidar data as LaserScan.
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