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QUT-Motorsport / QUTMS_Driverless

Welcome to the QUTMS Driverless team repository, used to develop perception, planning and control pipelines in ROS2 for a driverless FSAE racecar
MIT License
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Jetson setup #278

Closed b1n-ch1kn closed 1 year ago

b1n-ch1kn commented 1 year ago

What type of PR is this? (check all applicable)

[required] Description

This replaces any Jetson Xavier NX environment and infrastructure settings to work with our new Jetson Orin Nano. New docker containers are built on the dusty_nv/jetson_containers repository (which is cloned into the dev/repos/ directory). As a result they build ROS 2 Humble from source, which means RoboStack is no longer used on-car. The ZED ROS 2 driver now has full compatibility. New ZED SDK is utilised, which provides AI assisted depth images as well as tracking, pointcloud mapping, and GPS integration. Currently using the PyTorch implementation of YOLOv5. If this is too slow we can optimise for TensorRT.

[required] Documentation

Driverless/Software/Infrastructure/QEV-3 Onboard Systems

[optional] Usability concerns or breaking changes?

Very much a breaking change for any old camera driver settings.

b1n-ch1kn commented 1 year ago

Note: would be worth giving the ROSCube another rebuild too Potentially later we move away from Robostack on-car and just keep in our dev environments, as we are already using docker for environment recovery.