zenoh_remote_driving

It's the project to deploy the remote driving task over Zenoh.

Prerequisites

• ROS2

• Python 3.8

• RUST >= 1.76.0

• Testing Environment :

  • Operator : Ubuntu 20.04
  • Vehicle : F1EIGHTH (with Ubuntu 22.04)

Build Dependency

• Make sure the F1EIGHTH repo is already built in the $HOME/repos directory.

• Build zenoh-plugin-ros2dds with below commands :

cd zenoh_remote_driving/
git submodule update --init --recursive
cd external/zenoh-plugin-ros2dds
cargo build --release

or

sudo apt install zenoh-bridge-ros2dds

Build Project

cd zenoh_remote_driving
make build_project
make build_proxy

Run

Note

Before execution, the VEHICLE_IP and OPERATOR_IP variables in the env.sh must be manually configured.

• Vehicle

source env.sh
cd zenoh_remote_driving
./src/ffmpeg/proxy

# Open another window to execute the following command.
source env.sh
bash ./script/vehicle.sh

• Operator

cd zenoh_remote_driving
source env.sh
bash ./script/operator.sh