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Launch & Use

Before You Begin

This page assumes you already completed:

Enter the Workspace

cd ~/venom_ws
source install/setup.bash

Common Build Commands

1. Standard rebuild

cp ~/venom_ws/src/venom_vnv/driver/livox_ros_driver2/package_ROS2.xml \
   ~/venom_ws/src/venom_vnv/driver/livox_ros_driver2/package.xml

cd ~/venom_ws
rosdep install -r --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DROS_EDITION=ROS2 -DHUMBLE_ROS=humble

2. Clean build and install, then rebuild

cp ~/venom_ws/src/venom_vnv/driver/livox_ros_driver2/package_ROS2.xml \
   ~/venom_ws/src/venom_vnv/driver/livox_ros_driver2/package.xml

cd ~/venom_ws
rm -rf build install
rosdep install -r --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DROS_EDITION=ROS2 -DHUMBLE_ROS=humble

Update to the Latest Upstream Version

cd ~/venom_ws/src/venom_vnv
git pull origin master
git submodule sync --recursive
git submodule update --init --recursive

Common Launch Commands

1. Mid360 RViz validation

cd ~/venom_ws
source install/setup.bash
ros2 launch venom_bringup mid360_rviz.launch.py

2. Mid360 + Point-LIO

cd ~/venom_ws
source install/setup.bash
ros2 launch venom_bringup mid360_point_lio.launch.py

3. Mid360 + Point-LIO odom-only mode

cd ~/venom_ws
source install/setup.bash
ros2 launch venom_bringup mid360_point_lio_odom.launch.py

This entry uses point_lio_online_odom.yaml by default. Use it when you only need realtime odom -> base_link output and do not need map publication or PCD saving.

4. Mid360 + Point-LIO explicit async-map mode

cd ~/venom_ws
source install/setup.bash
ros2 launch venom_bringup mid360_point_lio_async_map.launch.py

5. Point-LIO offline mapping

cd ~/venom_ws
source install/setup.bash
ros2 launch venom_bringup mid360_point_lio_offline_map.launch.py \
  bag_path:=/absolute/path/to/rosbag2_dir \
  output_pcd_path:=/absolute/path/to/offline_map.pcd

6. D435i / RealSense validation

cd ~/venom_ws
source install/setup.bash
ros2 launch venom_bringup d435i_test.launch.py

7. PX4 VPS / external-pose bridge

cd ~/venom_ws
source install/setup.bash
ros2 launch venom_bringup px4_vps_bridge.launch.py

If the LIO or VPS output topic is not the default /lio/vps/odometry:

cd ~/venom_ws
source install/setup.bash
ros2 launch venom_bringup px4_vps_bridge.launch.py input_odom_topic:=/lio/odom

8. Health-aware multi-waypoint navigation

cd ~/venom_ws
source install/setup.bash
ros2 launch venom_bringup health_aware_navigation.launch.py

If you only need the Nav2 Simple Commander waypoint entry:

cd ~/venom_ws
source install/setup.bash
ros2 run venom_bringup multi_waypoint_commander

About robot_bringup.launch.py

robot_bringup.launch.py already contains top-level robot_type selection logic, but it depends on per-robot bringup templates under each robot directory. For daily integration, use the concrete launch files listed on this page first.

Suggested Order

  1. Validate Mid360 in RViz
  2. Bring up Mid360 + Point-LIO
  3. If you only need realtime odometry, use the Mid360 + Point-LIO odom-only mode
  4. If you need to explicitly test async-map buffering, run the Mid360 + Point-LIO async-map mode
  5. If offline mapping is needed, use the Point-LIO offline mapping entry with a rosbag2 path
  6. If you use a RealSense camera, validate D435i / RealSense next
  7. If external localization is fed into PX4, run the PX4 VPS / external-pose bridge
  8. If mission control is needed, run the health-aware waypoint navigation entry

Further Reading