Welcome to AS ROS’s documentation!

The Autonomous System ROS software stack contains all code running live on the vehicle and enabling autonomous driving of the electric vehicle by executing the high level logic (Perception, Localization, Mapping, Planning and High-Level Control).

This Documentation serves multiple purposes:

• Giving an overview what the Autonomous System is and how it works

• How to use the Autonomous System

  • How to install the Autonomous System

  • How to develop the Autonomous System

  • How to work with the Autonomous System

  • How to prepare, execute, document and postprocess a driverless test day

• Documentation of the code

Contents:

• 1. Getting Started
  • 1.1. Overview of the Autonomous System - An Explanation
  • 1.2. How to contribute
  • 1.3. Development Environment
  • 1.4. How to view Visualization of the system output
  • 1.5. How the drive is structured for data from and for test days
  • 1.6. What is the metadata website?
  • 1.7. How to connect to the ACU
  • 1.8. Setup ACU and install AS ROS and its dependencies
• 2. AS ROS Modules
  • 2.1. Perception Modules
  • 2.2. Navigation Modules
  • 2.3. Communication Modules
  • 2.4. Monitoring and Utilities Modules
• 3. ROS Messages
  • 3.1. Utilities Messages
  • 3.2. Autonomous System CAN ROS Messages
• 4. Utilities for AS ROS
  • 4.1. Migrating Rosbags
  • 4.2. Creating Visualization for recorded Rosbags
  • 4.3. Generating a Map
  • 4.4. Creating Tracks from drone footage
  • 4.5. Visualizing system states and output onto a bird eyes view of the vehicle
  • 4.6. Analyzing Rosbags
  • 4.7. Merge Rosbags
• 5. Testing days with a race car
  • 5.1. Plan a Testday
  • 5.2. Prepare a Testday
  • 5.3. Execute a Testday
  • 5.4. Postprocess a Testday
• 6. Software Testing
  • 6.1. Prerequisites
  • 6.2. Check Camera Perception functionality and plausibility
  • 6.3. Check Local Mapping functionality and plausibility
  • 6.4. Test the pipeline for driving a mission
  • 6.5. Check the pipeline for running successfully for different missions
• 7. Onboarding
  • 7.1. External Tutorials
  • 7.2. Exercises
• 8. Glossary
• 9. Bibliography
• 10. Todolist

Indices and tables

• Index

• Module Index

• Search Page