AIR Twizy Hardware

Central hardware stack for the AIR-UFG team's autonomous Twizy vehicle. This repository orchestrates three independent subsystems — camera, LiDAR and vehicle interface — through a unified Docker Compose setup.

Architecture

graph TB
    subgraph host["Host Machine"]
        dc["docker-compose.yml"]
    end

    subgraph camera["camera service (workspace/camera-lucid)"]
        cam_node["arena_camera_node (ROS2)"]
        cam_sdk["Lucid ArenaSDK"]
    end

    subgraph lidar["lidar service (workspace/ouster-ros)"]
        ouster_node["ouster_ros (ROS2)"]
    end

    subgraph vehicle["carro service (workspace/twizy)"]
        vi["SD-VehicleInterface"]
        can["ros2_socketcan (CAN bus)"]
    end

    hw_cam["Lucid Triton GigE Camera"] --> cam_sdk
    hw_lidar["Ouster LiDAR (Ethernet)"] --> ouster_node
    hw_can["CAN Bus (can0)"] --> can

    dc --> camera
    dc --> lidar
    dc --> vehicle

    cam_node -->|"/camera/image_raw"| ros2_net["ROS2 DDS (FastDDS)"]
    ouster_node -->|"/ouster/points"| ros2_net
    vi --> ros2_net

Subsystems

Subsystem	Directory	Hardware	ROS2 Package
Camera	workspace/camera-lucid	Lucid Vision Triton (GigE)	arena_camera_node
LiDAR	workspace/ouster-ros	Ouster OS-series	ouster_ros
Vehicle	workspace/twizy	StreetDrone Twizy (CAN)	SD-VehicleInterface

Each subsystem lives in a separate git submodule and has its own Docker image. The root docker-compose.yml ties them together with a shared ROS_DOMAIN_ID and host networking.

Quick Start

git clone https://github.com/AIR-UFG/air_twizy_hardware.git
cd air_twizy_hardware
git submodule update --init --recursive

cp env.exemple .env
# edit .env with your camera serial, CAN port, etc.

docker compose build
docker compose up -d

See Getting Started for detailed setup instructions.