FYP Autonomous Vehicle

ROS 2 Humble monorepo for the Jetson Orin NX autonomous vehicle project.

Current State

• Main deployment target: Jetson Orin NX running Ubuntu 22.04 and ROS 2 Humble
• Common runtime entry points: make launch-explore, make launch-indoor-nav, make launch-corridor
• GPS-assisted mode available: make launch-explore-gps; GPS route-graph mode available: make launch-nav-gps
• Current integrated MPPI baseline uses the anti-understeering tune absorbed from the former IEEE demo line: vx_max=1.0, wz_max=1.2, ax_max=1.2, PathAlignCritic.offset_from_furthest=6, PathFollowCritic.cost_weight=16.0
• Global replanning remains at 5 Hz with NavFn A* enabled in src/bringup/config/nav2_explore.yaml
• PGO now supports on-demand /pgo/global_map publication and custom RViz layout injection via ros2 launch pgo pgo_launch.py rviz_config:=...
• Runtime data lives inside the workspace under ~/XJTLU-autonomous-vehicle/runtime-data
• Runtime parameters are centralized in src/bringup/config/master_params.yaml
• Session logs are created by scripts/launch_with_logs.sh

Quick Start

# SSH to Jetson
ssh jetson@100.97.227.24

# Enter workspace
cd ~/XJTLU-autonomous-vehicle

# First-time setup
make setup
make build
source install/setup.bash
bash scripts/init_runtime_data.sh

# Launch one operating mode
make launch-slam
make launch-explore
make launch-indoor-nav
make launch-corridor
make launch-explore-gps
make launch-nav-gps
make launch-travel

Repository Structure

src/
├── sensor_drivers/   Livox LiDAR, WIT IMU, GNSS, serial drivers
├── perception/       FAST-LIO2, PGO GPS fusion, pointcloud processing
├── planning/         GNSS global planning, coordinate transforms
├── navigation/       waypoint_collector and navigation tools
├── bringup/          launch files, Nav2 configs, maps, RViz assets
└── firmware/         STM32 RM C Board lower-controller snapshot

docs-CN/              Active engineering documentation (Chinese)
docs-EN/              Active engineering documentation (English)
scripts/              Runtime helpers and data-collection tools
dependencies.repos    vcs import manifest for upstream dependencies

Firmware Snapshot

• Full STM32 RM C Board firmware snapshot is checked in under src/firmware/rm_c_board/
• The directory currently keeps the saved source tree, project files, and companion build artifacts together as one repository-local snapshot
• Firmware-local readme: src/firmware/rm_c_board/README.md

Operating Modes

1. make launch-slam FAST-LIO2 + PGO + SLAM Toolbox mapping workflow
2. make launch-explore FAST-LIO2 + PGO + Nav2 local navigation
3. make launch-indoor-nav Explore stack without GNSS, optimized for RViz click-to-go testing
4. make launch-corridor GPS Corridor v2 runtime on the MPPI baseline
5. make launch-explore-gps Explore mode with GNSS bringup and PGO GPS factor enabled
6. make launch-nav-gps Scene-bundle + route-graph GPS goal navigation workflow
7. make launch-travel Static-map navigation workflow, currently paused

All seven make launch-* targets go through scripts/launch_with_logs.sh, which creates a per-session log directory under ~/XJTLU-autonomous-vehicle/runtime-data/logs/.

Documentation

Project docs are maintained in two languages:

• Chinese: docs-CN/
• English: docs-EN/

Both directories have identical structure. When updating docs, update both.

• Documentation Index
• System Architecture
• Command Reference
• STM32 RM C Board Firmware Snapshot
• Contributing Guide (CN)
• Contributing Guide (EN)
• Known Issues
• PGO Notes
• GPS Planning Notes

Development Workflow

1. Sync main and create a branch from it.
2. Implement and verify on the branch.
3. Rebuild with --parallel-workers 1.
4. source install/setup.bash after every build.
5. Push the branch and open a PR to main.
6. Merge through PR, then sync Jetson back to main.
7. Update affected docs in both docs-CN/ and docs-EN/ before the session is considered complete.

See CONTRIBUTING.md for the full development conventions and documentation trigger rules.

Hardware Snapshot

• Compute: Jetson Orin NX, 16 GB RAM
• LiDAR: Livox MID360
• IMU: WIT IMU
• GNSS: basic GPS receiver, about 2.5 m class accuracy, no RTK in the current stack
• Drive interface: serial link to STM32 lower controller board
• Manual override: PS2 wireless controller, highest priority

Key Rules

1. Do not modify tuned YAML parameters without documenting why.
2. Always build with --parallel-workers 1.
3. Always source install/setup.bash after a build.
4. Do not modify imported upstream dependencies casually; this repository no longer keeps a checked-in src/third_party/ tree.
5. Do not push directly to main; use PRs.