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 verify Livox-SDK2 with:

ldconfig -p | grep LivoxSdkCore

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

Suggested Next Steps

First Validation

LiDAR chain: Livox LiDAR Driver
Camera chain: Hikrobot Camera Driver
Serial chain: Serial Driver
System-level interfaces: Topics & TF Overview