A comprehensive data acquisition system for sensor integration, designed for autonomous vehicle and robotics applications. This package provides a flexible, modular framework for integrating multiple sensors including cameras, GNSS receivers, and LiDAR systems.
- Multi-Sensor Integration: Seamless integration of ZED cameras, GNSS receivers, and more
- Multi-Camera Support: Run multiple ZED cameras (ZED 2i, ZED X) simultaneously
- Point Cloud Processing: Optimized point cloud generation and visualization
- RTK-Enhanced GNSS: High-precision positioning with RTK corrections
- Flexible Configuration: Easily configurable through YAML files and launch parameters
- Visualization Tools: Pre-configured RViz profiles for sensor data visualization
- ROS2 Compliance: Fully compatible with ROS2 standards and best practices
- Operating System: Ubuntu 22.04 or newer
- ROS2: Humble or newer
- ZED SDK: 4.0 or newer (tested with 4.2.5)
- CUDA: 11.0 or newer (for ZED SDK)
- Hardware: Compatible with ZED cameras (USB and GMSL), u-blox F9P GNSS receivers
data-aquisition-digital-twin/
├── data_aquisition/ # Main ROS2 package
│ ├── include/ # Header files
│ │ └── sensors/ # Sensor-specific headers
│ │ ├── camera/ # ZED camera interface
│ │ ├── gnss/ # GNSS interface
│ │ └── lidar/ # LiDAR interface
│ ├── src/ # Source code
│ │ ├── camera/ # ZED camera implementation
│ │ ├── gnss/ # GNSS implementation
│ │ └── lidar/ # LiDAR implementation
│ ├── launch/ # Launch files
│ │ ├── all_sensors_launch.py # Launch all sensors
│ │ ├── cameras_launch.py # Launch cameras only
│ │ ├── gnss_launch.py # Launch GNSS only
│ │ └── multi_camera_launch.py # Launch multiple cameras
│ ├── scripts/ # Utility scripts
│ │ ├── camera/ # Camera-specific scripts
│ │ ├── gnss/ # GNSS-specific scripts
│ │ └── visualize_zed_pointcloud.sh # Point cloud visualization
│ ├── config/ # Configuration files
│ │ ├── camera/ # Camera configuration
│ │ └── gnss/ # GNSS configuration
│ └── CMakeLists.txt # Build configuration
└── CMakeLists.txt # Main build configuration
- Install ROS2 Humble or newer: ROS2 Installation Guide
- Install ZED SDK: ZED SDK Installation
- Install required dependencies:
sudo apt update
sudo apt install -y build-essential cmake libusb-1.0-0-dev# Navigate to the project root directory
cd /path/to/data-aquisition-digital-twin
# Build the project
colcon build --symlink-install
# Source the setup files
source install/setup.bashTo launch the complete system with all sensors:
ros2 launch data_aquisition all_sensors_launch.pyThis will start:
- All available ZED cameras
- GNSS receiver
- Data processing nodes
For just the camera subsystem:
# Launch with default parameters
ros2 launch data_aquisition cameras_launch.py
# Launch with specific parameters
ros2 launch data_aquisition cameras_launch.py camera_model:=ZED_XFor running multiple cameras with proper namespace separation:
# Using the multi-camera launch system (recommended)
ros2 launch data_aquisition multi_camera_launch.py
# Using the dedicated script (alternative)
./scripts/camera/launch_all_cameras.shFor just the GNSS subsystem:
# Launch with default parameters
ros2 launch data_aquisition gnss_launch.py
# Launch with RTK enabled
ros2 launch data_aquisition gnss_launch.py use_rtk:=true# Run ZED X0 (GMSL-0) camera
ros2 run data_aquisition zed_camera_node --ros-args -r __ns:=/ZED_CAMERA_X0 -r __node:=ZED_CAMERA_X0 -p camera.serial_number:=40894785 -p camera.model:=ZED_X
# Run ZED X1 (GMSL-1) camera
ros2 run data_aquisition zed_camera_node --ros-args -r __ns:=/ZED_CAMERA_X1 -r __node:=ZED_CAMERA_X1 -p camera.serial_number:=41050786 -p camera.model:=ZED_X
# Run ZED 2i (USB) camera
ros2 run data_aquisition zed_camera_node --ros-args -r __ns:=/ZED_CAMERA_2i -r __node:=ZED_CAMERA_2i -p camera.serial_number:=37503998 -p camera.model:=ZED2i# Run GNSS node
ros2 run data_aquisition gnss_node
# Run with RTK enabled
ros2 run data_aquisition gnss_node --ros-args -p gnss.use_rtcm_corrections:=trueThe system includes dedicated scripts for visualizing point clouds in RViz2:
# Setup RViz configuration for point cloud viewing
./scripts/setup_rviz_for_pointcloud.sh
# Launch visualization with a running camera
./scripts/visualize_zed_pointcloud.sh
# Launch visualization with running LiDAR
./scripts/visualize_livox_pointcloud.sh
# Fix and visualize camera point clouds (all cameras)
./scripts/fix_camera_pointclouds.shTo view camera RGB and depth images:
# Using RViz
ros2 run rviz2 rviz2 -d $(ros2 pkg prefix data_aquisition)/share/data_aquisition/config/camera_view.rviz
# Using image_view (alternative)
ros2 run image_view image_view --ros-args -r image:=/ZED_CAMERA_X0/rgb/image_rect_colorThe system has been optimized for proper color visualization in RViz:
- Camera point clouds use BGR channel ordering compatible with RViz's RGB8 transformer
- LiDAR point clouds pack RGB values in a single UINT32 field named "rgb" for PCL compatibility
- Color enhancements improve image quality with adjusted brightness, contrast, and saturation
For visualizing GNSS data:
# View fix data
ros2 topic echo /gnss/fix
# Using RViz (if TF is published)
ros2 run rviz2 rviz2 -d $(ros2 pkg prefix data_aquisition)/share/data_aquisition/config/gnss_view.rviz- No cameras detected: Ensure ZED SDK is properly installed and cameras are connected
- Permission issues: Check USB device permissions (try
sudo chmod 666 /dev/video*) - Multiple camera conflicts: Use separate processes as described in documentation
- No GNSS connection: Check serial port (
/dev/ttyACM0by default) and permissions - RTK not working: Verify NTRIP server settings and internet connectivity
- Poor position accuracy: Ensure antenna has clear sky view and RTK corrections are received
For more detailed information, refer to these specialized guides:
- Camera System Documentation: Detailed guide for camera configuration and usage
- GNSS System Documentation: Guide for GNSS configuration and RTK setup
This software is licensed under the MIT License. See the LICENSE file for details.