README.md

Data Recording System

Forked from edge-auto-jetson

Edge.Auto sensor fusion system can be realized by using this with edge-auto repository.

Prerequisites

System Overview

This repository is based on a natively built ROS2 environment. The system overview is shown below.

System Requirement

• Camera: v4l2 compatible cameras, including TIER IV Automotive HDR Camera C2
• ECU: Jetson AGX Orin based ECU, including Anvil from ConnectTech Inc.
• NVIDIA L4T: R35.4.1 (including Ubuntu 20.04). BSP can be downloaded here
• ROS: ROS2 Humble (native build)

Getting Started

git clone [email protected]:tier4/data_recording_system.git
cd data_recording_system
./setup-dev-env.sh
vcs import src < autoware.repos
rosdep install -y -r --from-paths `colcon list --packages-up-to drs_launch simple_frontend -p` --ignore-src
python3 -m pip install gpiod==1.5.4  # Install additional dependency that rosdep can not handle
./build.sh
./setup-drs.sh

Related repositories

• tier4/edge-auto
  • Meta-repository containing autoware.repos to construct ROS-based workspace on x86-based ECU.
• tier4/edge-auto-jetson
  • Meta-repository containing autoware.repos file to construct ROS-based workspace on Jetson-based ECU.
• tier4/edge_auto_launch
  • Launch configuration repository containing node configurations and their parameters for x86-based ECU.
• tier4/edge_auto_jetson_launch
  • Launch configuration repository containing node configurations and their parameters for Jetson-based ECU.
• tier4/edge_auto_individual_params
  • Repository for managing system parameters including camera parameters, driver parameters, etc.
• tier4/nebula
  • ROS2 package for unified ethernet-based LiDAR driver.
• tier4/tier4_automotive_hdr_camera
  • Kernel driver for using TIER IV cameras with Video4Linux2 interface.
• tier4/ros2_v4l2_camera
  • ROS2 package for camera driver using Video4Linux2.
• tier4/sensor_trigger
  • ROS2 package for generating sensor trigger signals.
• tier4/calibration_tools
  • Repository for calibration tools to estimate parameters on autonomous driving systems.
• autowarefoundation/autoware.universe
  • Repository for experimental, cutting-edge ROS packages for autonomous driving.