Venom VNV

Project Positioning¶

Venom VNV is a general-purpose robotics platform built on ROS 2 Humble.

The project aims to provide a reusable system base for:

Navigation
Manipulation
Auto aim
UGV platforms
UAV platforms
USV platforms

It reduces migration cost between different robot forms by keeping the driver, perception, localization, planning, mission, system, and simulation layers aligned under stable interface conventions.

The repository focuses on reusable engineering capabilities such as:

Sensors, serial links, chassis platforms, and robot arm integration
Detection, tracking, targeting, and general object-detection pipelines
LIO, odometry, and future global-localization interfaces
planning-oriented modules for Ego Planner, TEB controllers, trajectory planning, and manipulation motion generation
mission-oriented modules for waypoint, BT, monitor, and task progression
Shared startup conventions across multiple robot types

Quick Start¶

⚙️ Quick Start

Clone the workspace, install dependencies, and build the project for the first time.

🧰 Environment

Prepare Ubuntu, ROS 2, rosdep, VS Code, Clash, and NoMachine.

📡 LiDAR Setup

Install Livox-SDK2, configure MID360 networking, and verify the LiDAR link.

🚀 Launch & Use

Check common build, rebuild, and launch commands used in daily development.

🛞 Chassis CAN

Bring up the chassis CAN interface and verify the low-level communication chain.

🦾 Arm CAN

Detect the Piper CAN adapter, name the interface, and start the arm control chain.

🔁 rc.local

Set up boot-time commands and network-priority initialization.

🧭 Run Modes

Understand the typical bringup combinations used for testing and full-system runs.

🧩 Topics & TF

Review the system-level topic contracts and TF conventions.

Project Overview¶

The repository includes both built-in packages and external submodules. For a quick overview, the homepage keeps everything in one long table.

Category	Path	Description
Drivers	`driver/livox_ros_driver2`	Livox MID360 driver and point cloud publishing
Drivers	`driver/ros2_hik_camera`	Hikrobot USB3 industrial camera driver
Drivers	`driver/venom_serial_driver`	NUC-to-controller serial communication driver
Drivers	`driver/scout_ros2`	ROS 2 wrapper for Scout / Scout Mini platforms
Drivers	`driver/hunter_ros2`	ROS 2 wrapper for Hunter platforms
Drivers	`driver/ugv_sdk`	Low-level C++ SDK and CAN tools for AgileX / Weston Robot platforms
Drivers	`driver/piper_ros`	Piper arm ROS 2 control, description, MoveIt, and simulation packages
Drivers	`driver/venom_px4_bridge`	PX4 integration project root containing vendored `px4_msgs` and the bridge package
Perception	`perception/rm_auto_aim`	Auto aim stack including detection, tracking, solving, and interface definitions
Perception	`perception/yolo_detector`	General YOLO-based 2D detector with custom message definitions
Perception	`perception/zbar_ros`	ZBar-based QR and barcode recognition with structured detection outputs
Perception	`perception/rm_auto_aim/armor_detector`	Armor detection module
Perception	`perception/rm_auto_aim/armor_tracker`	Target tracking module
Perception	`perception/rm_auto_aim/auto_aim_solver`	Ballistics and target solving module
Perception	`perception/rm_auto_aim/auto_aim_interfaces`	Message and interface definitions for the auto aim pipeline
Localization	`localization/lio/Point-LIO`	High-bandwidth LiDAR-inertial odometry, tuned for MID360 workflows
Localization	`localization/lio/Fast-LIO`	ROS 2 version of FAST-LIO
Localization	`localization/lio/rf2o_laser_odometry`	2D laser odometry based on range flow
Planning	`planning/navigation/ego-planner-swarm`	UAV local planning and swarm-planning submodule tracking the upstream `ros2_version` branch
Planning	`planning/navigation/venom_teb_controller`	TEB local planner integrated as a Nav2 controller plugin, including `teb_local_planner` and `teb_msgs`
Planning	`planning/manipulation`	Entry point for future MoveIt / grasp-planning packages on the manipulation side
Mission	`mission/`	Target home for waypoint, behavior-tree, monitor, task-dispatch, and mission-management packages
Mission	`venom_bringup/venom_bringup/mission_controller`	Current generic mission-control framework with state monitoring, mission management, and behavior plugins
Mission	`venom_bringup/venom_bringup/multi_waypoint_commander.py`	Nav2 Simple Commander based multi-waypoint task entry
System	`venom_bringup`	Main system entry for mode composition, robot assembly, configuration dispatch, and the current transitional mission-control entry
System	`venom_robot_description`	Robot model, URDF, and TF description package
Simulation	`simulation/venom_nav_simulation`	Standalone navigation simulation workspace for MID360, LIO, and Nav2 validation

Documentation Groups¶

Group	Description
Deployment & Usage	Environment, LiDAR, CAN setup, boot-time config, and run modes
Modules & Interfaces	Drivers, perception, localization, planning, mission, system, simulation, and interface conventions
Support & Community	FAQ, troubleshooting, migration notes, contact, and contribution guidance