跳转至

Quick Start

Before You Begin

Make sure the following are already available:

  • Ubuntu 22.04
  • ROS 2 Humble
  • rosdep
  • colcon
  • Livox-SDK2

If your base environment is not ready yet, start from Environment Setup.

You can check whether the key Livox-SDK2 runtime library exists with:

ls /usr/local/lib/liblivox_lidar_sdk_shared.so

If this file is missing, complete LiDAR Setup first.

If rosdep install fails, try:

sudo rosdep init
rosdep update

Clone the Repository

Recommended first-time clone:

cd ~
mkdir -p ~/venom_ws/src
git clone --recurse-submodules https://github.com/Venom-Algorithm/Venom_VNV ~/venom_ws/src/venom_vnv

If you only need one workflow, clone the main repository first and then initialize a profile-specific submodule set:

cd ~
mkdir -p ~/venom_ws/src
git clone https://github.com/Venom-Algorithm/Venom_VNV ~/venom_ws/src/venom_vnv
cd ~/venom_ws/src/venom_vnv
make submodules-ugv       # real UGV: chassis, LiDAR, localization, navigation, general perception
make submodules-sim       # pure simulation: simulation workspace, Ego Planner, TEB controller
make submodules-ugv-sim   # UGV simulation: simulation, localization, TEB controller, general perception
make submodules-auto-aim  # auto-aim / vision development: auto aim, YOLO, ZBar, camera, serial
make submodules-uav       # UAV: PX4 bridge, Ego Planner, YOLO, ZBar
make submodules-all       # initialize all submodules

For first-time full deployment, --recurse-submodules is still the simplest path. For single-area development, the profile targets save time and disk space.

If you want to remove an old workspace and start clean, move back to your home directory first:

Note: if your current shell is still inside ~/venom_ws or one of its subdirectories, switch back to ~ before removing it. Otherwise the shell may stay attached to an invalid working directory and git can fail with Unable to read current working directory.

cd ~
rm -rf ~/venom_ws
mkdir -p ~/venom_ws/src
git clone --recurse-submodules https://github.com/Venom-Algorithm/Venom_VNV ~/venom_ws/src/venom_vnv

Build the Workspace

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

After a successful build:

source ~/venom_ws/install/setup.bash

Update to the Latest Version

If the workspace already exists and you want to sync it to the latest upstream version:

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

If the workspace was initialized with a profile, rerun the matching target after syncing:

cd ~/venom_ws/src/venom_vnv
git pull
git submodule sync --recursive
make submodules-uav

If you also need the recommended Git remote strategy for development machines, see Development Notes.

Suggested Next Steps

  1. Environment Setup
  2. LiDAR Setup
  3. Chassis CAN Setup
  4. Launch & Use

First Validation