tartan_carpet

Main AV software stack setup repository

Installation

To clone all relevant repos:

Clone this repository in a ROS workspace (i.e. ros_ws/src/): git clone git@github.com:ipab-rad/tartan_carpet.git
Install vcstool (After ROS is sourced): sudo apt update && sudo apt install python3-vcstool
Then, from the tartan_carpet repo, run:

    # Create src directory
    mkdir src
    # Import AV repos and submodules
    vcs import --recursive --input av.repos ./src

Additional optional steps

Import extra repos

These include tools and other repos non-essential for running the stack

    # Import AV extra repos and submodules
    vcs import --recursive --input extra.repos ./src

Pull latest code of imported repos

This will pull the latest commits for the target branch of all repos

    # Pull latest code for all repos recursively
    vcs pull -n

Configure Linux Kernel receive buffer on your host machine

To run any node on your machine, you need to tweak the maximum Linux Kernel receive buffer to allow high throughput messaging:

Create a Configuration File:

sudo touch /etc/sysctl.d/10-cyclone-max.conf

Set the Maximum Receive Buffer:

echo "net.core.rmem_max=2147483647" | sudo tee /etc/sysctl.d/10-cyclone-max.conf

Reload System Configuration:
```
sudo sysctl --system
```

Alternatively, you can apply the change for the current session only (the changes will be forgotten after a reboot):

sudo sysctl -w net.core.rmem_max=2147483647

Run sensors

To run all vehicle sensors, including drive-by-wire, use the following command

    docker compose -f ./sensors_compose.yaml up

If the docker images are not already downloaded, they will be automatically fetched from the GitHub Docker registry. Ensure you have access to the GitHub Docker registry; please contact @GreatAlexander or @hect95 for access details.

To stop the sensors, press Ctrl + C in the same terminal. Additionally, you can remove the created Docker containers with:

    docker compose -f ./sensors_compose.yaml down

ipab-rad / tartan_carpet