Launch & Use
Common build, rebuild, and launch commands after the workspace has been compiled.
Before You Begin
This page assumes you already completed:
- Quick Start
- LiDAR Setup when needed
- Chassis CAN Setup when needed
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. D435i / RealSense validation
cd ~/venom_ws
source install/setup.bash
ros2 launch venom_bringup d435i_test.launch.py
Suggested Order
- Validate Mid360 in RViz
- Bring up Mid360 + Point-LIO
- If you use a RealSense camera, validate D435i / RealSense next