Connect ROS to the Vehicle¶

Use the onboard Linux computer for these steps. For driving without ROS, use RC operation.

Start the container¶

Follow steps 1–2 of RC startup to power the RC and vehicle. Keep the RC switch in kill while checking the connection. Connect the PX4 controller's CN1 USB port to the onboard computer; CN2 is the flashing port.

From the host checkout:

util/build
util/run

On Linux, util/run gives the container access to host devices and networking.

Connect to PX4¶

Inside the container, find the runtime serial device:

ls /dev/serial/by-id/*SVEA*

Start MAVROS using the default device and baud rate:

ros2 launch svea_core lli.xml name:=self

The default is /dev/serial/by-id/usb-SVEA_PX4_AUTOPILOT_0-if00 at 921600 baud. If the listed device differs, pass its path as serial_device:=/dev/serial/by-id/DEVICE.

Open another host terminal and run util/exec. Inside that shell:

ros2 topic echo /self/mavros/state --once

Check that connected is true. This launch starts the PX4 connection and telemetry tunnel; it does not start a driving controller or localization.

Add localization and a controller¶

Configure LiDAR or MoCap for the vehicle and map. See the localization launch reference for available sensors and frames.

For a combined launch, svea_core/svea.launch.py includes MAVROS and localization when is_sim=False. Configure its serial connection, sensors and map for the vehicle, and stop the standalone lli.xml launch before starting it.

Start your tested controller only after localization reports the vehicle's correct position and heading. The RC switch selects left = ROS, middle = RC, right = kill. The RC guide shows the switch and arm button.