🚗 SDV_ROS2
Official ROS2 software stack for the VANTTEC Self-Driving Vehicle (SDV)
This repository contains all modules required to operate the VANTTEC autonomous vehicle,
including acceleration, steering, braking, lighting, LiDAR processing, IMU fusion,
localization, mapping, and path planning.
📘 Quick Navigation
Getting Started •
Setup •
Launching the System •
Sensors •
Mapping •
Localization •
Path Planning •
SDV Control •
CAN Communication •
Recording Bags
Getting Started
Requirements
- Linux distribution (Ubuntu 22.04 recommended)
- ROS 2 Humble
- At least 8 GB RAM recommended
🔧 Setup
Run the environment setup script:
Building Packages of ROS2
If you need to compile everything from zero:
colcon build --packages-select pointcloud_rotation colcon build --packages-select lidar_imu_sync colcon build --packages-select robot_description colcon build --packages-select vectornav_msgs vectornav colcon build --packages-select velodyne_msgs velodyne_driver velodyne_laserscan velodyne_pointcloud velodyne colcon build --packages-select lio_sam colcon build --packages-select ndt_omp_ros2 colcon build --packages-select lidar_localization_ros2 colcon build --packages-select sensors_launch colcon build --packages-select sdv_msgs source install/setup.bash colcon build --packages-select sdv_control colcon build --packages-select sdv_can colcon build --packages-select sdv_velocity colcon build --packages-select mrt_cmake_modules colcon build --packages-select polygon_msgs polygon_rviz_plugins polygon_utils colcon build --packages-select obstacles_information_msgs traffic_information_msgs source install/setup.bash colcon build --packages-select pointcloud_clustering lanelet2_core source install/setup.bash colcon build --packages-select lanelet2_maps lanelet2_projection lanelet2_traffic_rules source install/setup.bash colcon build --packages-select lanelet2_routing lanelet2_io lanelet2_validation source install/setup.bash colcon build --packages-select waypoints_routing colcon build --packages-select path_planning_dynamic source install/setup.bash
📌 Related Framework
This repository implement many software of this another repository:
🔗 NavPilot Framework (Armando Genis, vanttec member) https://github.com/armando-genis/navpilot-framework
How to Launch
Start the full SDV stack:
This script launches multiple modules via tmux, so each subsystem runs in its own terminal panel.
Some extras commands
Sensor stack
→ 🛰️ LiDAR + IMU Launch
ros2 launch sensors_launch lidar_imu.launch.py
Mapping Launchers
Initialize mapping processes:
ros2 launch /workspace/src/mapping_modules/launcher/mapping.launch.py
Localization Launchers
Run localization modules:
ros2 launch /workspace/src/localization_modules/launch/localization.launch.py
Path Planning Launchers
ros2 launch navpilot-framework/src/path_planning/launch/planning_obstacles.launch.py
SDV Control
Launch the control node:
ros2 launch sdv_control control_launch.py
CAN Communication
Start the CAN node:
ros2 run sdv_can sdv_can_node
Steering Services (provided by CAN)
Set steering control mode:
ros2 service call /sdv/steering/set_mode sdv_msgs/srv/Uint8 "{data: 1}"Reset the steering encoder:
ros2 service call /sdv/steering/reset_encoder std_srvs/srv/Empty "{}"Recording Bags
Record Rosbag (MCAP format)
ros2 bag record --storage mcap --all --output vanttec_sdv_localization_20250623
Play Rosbag
rviz2 -d /workspace/src/localization_modules/launch/localization.rviz ros2 bag play vanttec_sdv_localization_20250623 -s mcap
Read more about the official documentation here.