Getting Started

The kart software runs on Ubuntu 22.04 with ROS 2 Humble. There are two deployment targets:

	Simulation (development)	Real Hardware (on the kart)
Machine	Mac → UTM VM (Ubuntu 22.04 ARM64)	Jetson AGX Orin (Ubuntu 22.04 ARM64)
Sensor	Gazebo Fortress simulated RGBD camera	ZED stereo camera
Perception	Ground truth from SDF, or YOLO on simulated images	YOLO + depth projection
Actuators	Gazebo Ackermann plugin (`/kart/cmd_vel`)	ESP32 via UART (`/actuation_cmd`)
GPU	None (LLVMpipe software rendering)	NVIDIA GPU (CUDA for YOLO + ZED)

Both targets produce the same /perception/cones_3d topic — a controller node works identically in either mode.

1. Simulation on Mac (via UTM VM)

Prerequisites

Set up a UTM virtual machine running Ubuntu 22.04 ARM64 with at least 8 GB RAM and 4 CPU cores. Configure SSH access so you can reach it with ssh utm (or use the IP directly, typically 192.168.65.2).

On the VM, install ROS 2 Humble:

# Follow https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debs.html
sudo apt install ros-humble-desktop

Install simulation dependencies:

sudo apt install \
  ros-humble-ros-gz \
  ros-humble-vision-msgs \
  ros-humble-xacro \
  ros-humble-tf2-ros \
  mesa-utils libegl1-mesa-dev libgles2-mesa-dev

ros-humble-ros-gz installs Gazebo Fortress and the ROS bridge (~3-4 GB).

Clone & Build

ssh utm

cd ~
git clone https://github.com/UM-Driverless/KART_SW.git kart_sw
source /opt/ros/humble/setup.bash
cd ~/kart_sw
colcon build
source install/setup.bash

Add to .bashrc for convenience

echo 'source /opt/ros/humble/setup.bash' >> ~/.bashrc
echo 'source ~/kart_sw/install/setup.bash 2>/dev/null' >> ~/.bashrc
echo 'export IGN_GAZEBO_RESOURCE_PATH=$(ros2 pkg prefix kart_sim 2>/dev/null)/share/kart_sim/models' >> ~/.bashrc

Launch the Simulation

# Default: ground-truth perception (no YOLO, no camera needed)
ros2 launch kart_sim simulation.launch.py

# With YOLO vision pipeline (uses simulated camera images)
ros2 launch kart_sim simulation.launch.py use_yolo:=true

Default mode launches 5 processes:

Gazebo server — headless physics + OGRE2 rendering (LLVMpipe)
ros_gz_bridge — bridges Gazebo topics to ROS 2
perfect_perception_node — ground-truth cone detection from SDF
cone_marker_viz_3d — RViz marker visualization
cone_follower_node — midpoint-steering controller

With use_yolo:=true, it replaces perfect perception with:

camera_info_fix_node — corrects Gazebo's wrong camera intrinsics
yolo_detector — YOLOv5 inference on simulated images
cone_depth_localizer — depth-based 2D→3D projection

Verify it's working

In a second SSH terminal:

ssh utm

source /opt/ros/humble/setup.bash
source ~/kart_sw/install/setup.bash

# Check topics are active
ros2 topic list

# See cone detections
ros2 topic echo /perception/cones_3d --once

# See controller output
ros2 topic echo /kart/cmd_vel --once

Visualize

RViz (via X11 forwarding):

ssh -X utm
rviz2

Set Fixed Frame to odom
Add MarkerArray → /perception/cones_3d_markers
Add TF to see the kart's position
Add Odometry → /model/kart/odometry for velocity arrows

Foxglove Studio (from Mac — best experience):

# On the VM
sudo apt install ros-humble-rosbridge-server
ros2 launch rosbridge_server rosbridge_websocket_launch.xml

# On Mac: open Foxglove Studio, connect to ws://192.168.65.2:9090

See Simulation for track layout, kart model specs, and troubleshooting.

2. Real Hardware on the Jetson Orin

Prerequisites

The Jetson AGX Orin runs Ubuntu 22.04 via JetPack. Install ROS 2 Humble and the required packages:

sudo apt install ros-humble-desktop
sudo apt install \
  ros-humble-vision-msgs \
  ros-humble-xacro \
  ros-humble-tf2-ros \
  ros-humble-joy \
  ros-humble-ackermann-msgs

Install the ZED SDK and ROS 2 wrapper following Stereolabs' guide.

No simulation packages on the Orin

You do not need ros-humble-ros-gz or Gazebo on the Orin. The kart_sim package will be built but not used.

Clone & Build

cd ~
git clone https://github.com/UM-Driverless/KART_SW.git kart_sw
source /opt/ros/humble/setup.bash
cd ~/kart_sw
colcon build
source install/setup.bash

Connect Hardware

Before launching, connect:

ZED camera — USB 3.0 port
ESP32 (Kart Medulla) — USB port (appears as /dev/ttyUSB0)
Gamepad — USB or Bluetooth

Manual Driving (Teleop)

ros2 launch kart_bringup teleop_launch.py

Hold R1 (deadman switch) and use R2 for throttle, L2 for brake, left stick for steering.

Autonomous Perception

Start the ZED camera node, then launch the perception pipeline:

# Terminal 1: ZED camera
ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zed2i

# Terminal 2: Perception pipeline
ros2 launch kart_perception perception_3d.launch.py

This runs YOLO detection, depth-based 3D localization, and RViz visualization. The ZED provides correct camera intrinsics natively — no fix node needed (that's simulation-only).

Verify detections:

ros2 topic echo /perception/cones_3d --once

Full Autonomous Stack

Once perception is running, start a controller node that subscribes to /perception/cones_3d and publishes /actuation_cmd. The cone_follower_node from kart_sim can serve as a starting point, but the real kart uses AckermannDriveStamped instead of Twist.

Rebuilding After Changes

# Rebuild everything
cd ~/kart_sw && colcon build && source install/setup.bash

# Rebuild only the package you changed (faster)
colcon build --packages-select kart_sim && source install/setup.bash

Always re-source after building

After colcon build, you must run source install/setup.bash for the changes to take effect in your current terminal. New terminals that source it from .bashrc pick it up automatically.

Useful Commands

# List all active topics
ros2 topic list

# See message rate
ros2 topic hz /perception/cones_3d

# Echo a topic (one message)
ros2 topic echo /kart/cmd_vel --once

# Publish a manual velocity command (simulation only)
ros2 topic pub /kart/cmd_vel geometry_msgs/msg/Twist \
  "{linear: {x: 2.0}, angular: {z: 0.0}}" -r 10

# List running nodes
ros2 node list

# Stop the simulation
pkill -9 ign; pkill -f parameter_bridge; pkill -f perfect_perception; pkill -f cone_follower