This is the repository of the TUM FTM Teleoperated Driving Software Stack. The stack is ROS2-based and tested on Ubuntu 22.04 with ROS Humble, only.
The software stack is grouped thematically in the following packages:
- tod_common
- tod_direct_control
- tod_launch
- tod_logging
- tod_monitoring
- tod_msgs
- tod_network
- tod_operator_interface
- tod_perception
- tod_safety
- tod_state_machine
- tod_trajectory_guidance
- tod_vehicle_interface
A video, showcasing the software on three different vehicle systems will be available soon.
The system architecture is depicted in the following graphic. The color of the packages corresponds to the grouping of the packages in the respective sub-repositories. A more detailed overview of the architecture can be found on the wiki page.
Getting Started. Further information about the docker workflow used for development and deployment can be found under Docker Workflow
Kerbl, Tobias, David Brecht, Nils Gehrke, Nijinshan Karunainayagam, Niklas Krauss, Florian Pfab, Richard Taupitz, Ines Trautmannsheimer, Xiyan Su, Maria-Magdalena Wolf and Frank Diermeyer. “TUM Teleoperation: Open Source Software for Remote Driving and Assistance of Automated Vehicles.” (2025), doi: https://doi.org/10.48550/arXiv.2506.13933.