https://github.com/snchz46/ros2-lidar-stereo-camera-jetson
ROS 2-based autonomous driving prototype using a Jetson Nano, RPLIDAR A2 and stereo camera. Real-time perception and data fusion with MATLAB and Python.
https://github.com/snchz46/ros2-lidar-stereo-camera-jetson
autonomous-robots esslingen-university humble imx219 jetson jetson-nano jetson-orin-nano lidar nvidia nvidia-jetson nvidia-jetson-nano nvidia-jetson-orin-nano orin ros ros2 rplidar rplidar-a2 slamtec slamtec-rplidar stereo-camera
Last synced: 3 months ago
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ROS 2-based autonomous driving prototype using a Jetson Nano, RPLIDAR A2 and stereo camera. Real-time perception and data fusion with MATLAB and Python.
- Host: GitHub
- URL: https://github.com/snchz46/ros2-lidar-stereo-camera-jetson
- Owner: snchz46
- Created: 2025-04-18T08:16:40.000Z (7 months ago)
- Default Branch: main
- Last Pushed: 2025-07-25T08:25:18.000Z (3 months ago)
- Last Synced: 2025-07-25T14:10:04.931Z (3 months ago)
- Topics: autonomous-robots, esslingen-university, humble, imx219, jetson, jetson-nano, jetson-orin-nano, lidar, nvidia, nvidia-jetson, nvidia-jetson-nano, nvidia-jetson-orin-nano, orin, ros, ros2, rplidar, rplidar-a2, slamtec, slamtec-rplidar, stereo-camera
- Language: Python
- Homepage: https://github.com/snchz46/ros2-lidar-stereo-camera-jetson
- Size: 32.7 MB
- Stars: 2
- Watchers: 2
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
# 🤖 Automotive Systems Master Project 2025: ADMIT14 ROS 2
> A project work by Samuel Sanchez, Master student at Hochschule Esslingen
## Repository guide
Welcome to this practical and compact guide about ROS 2 and how to implement and integrate an RPLiDAR and a Stereo Camera on a NVIDIA Jetson Nano.
This project is offered to ASM students at Esslingen University. The work continues predecessor projects and has interfaces to other project teams.
The theoretical foundation underlying this project is part of a broader research project named Automated Driving in MIniaturized Traffic scenarios 1:14 (ADMIT14), which are intended to validate autonomous driving technology in a controlled, small-scale environment.
[Project_paper.pdf](Documents/Project_paper_samuel.pdf)
---
## Table of Contents
Click on the sections below to navigate through each topic.
- [1️⃣ Project Introduction](01_intro.md)
- [2️⃣ ROS 2 Introduction](02_ros2_intro.md)
- [3️⃣ ROS 2 Installation](03_ros2_install.md)
- [4️⃣ ROS 2 Setup](04_ros2_setup.md)
- [5️⃣ Stereo Camera Implementation](05_stereo_cam.md)
- [6️⃣ LiDAR Implementation](06_lidar.md)
---
## Project Poster
---
## References used on this guide
[ROS 2 Org.](https://docs.ros.org/en)
[MATLAB Help-Center: ROS 2](https://de.mathworks.com/help/ros/ug/get-started-with-ros-2.html)
- [Get Started with ROS 2 in Simulink](https://de.mathworks.com/help/ros/ug/get-started-with-ros-2-in-simulink.html)
- [Generate a Standalone ROS Node from Simulink](https://de.mathworks.com/help/ros/ug/generate-a-standalone-ros-node-from-simulink.html)
- [Generate Code to Manually Deploy a ROS 2 Node from Simulink](https://de.mathworks.com/help/ros/ug/generate-code-to-manually-deploy-ros-2-node.html)
[Slamtec RPLIDAR A2](https://www.slamtec.com/en/Support#rplidar-a-series)
- [Slamtec RPLIDAR A2 ROS 2 Package](https://github.com/Slamtec/rplidar_ros/tree/ros2)
[NVIDIA Jetson Nano](https://developer.nvidia.com/embedded/learn/get-started-jetson-nano-devkit)
- [Q-engineering Installing Ubuntu on Jetson Nano](https://qengineering.eu/install-ubuntu-20.04-on-jetson-nano.html)
- [Q-engineering Further info about Jetson Nano](https://github.com/Qengineering/Jetson-Nano-Ubuntu-20-image?tab=readme-ov-file#installation)