System overview

Table of contents

1. In the navigator Repository
2. In the carla_interface Repository
3. In the vehicle_interface Repository

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We use the git subtree functionality to embed third-party libraries (repositories) as subdirectories within our repositories. This allows us to import them in our ROS packages.

In the navigator Repository

1. We bring in our own navigator_msgs repository. This allow us to modify the ROS messages in that repository in one place and have them be used in several of our repositories:

   # To make the subtree for navigator_msgs:
   git subtree add --prefix=src/msg/navigator_msgs --squash https://github.com/Nova-UTD/navigator_msgs.git main
   # To pull new changes:
   git subtree pull --prefix=src/msg/navigator_msgs --squash https://github.com/Nova-UTD/navigator_msgs.git main
   

2. Similarly, we also bring in ROS’ CARLA messages:

   # To make the subtree for ros-carla-msgs: 
   git subtree add --prefix=src/msg/ros-carla-msgs --squash https://github.com/carla-simulator/ros-carla-msgs.git master
   # To pull new changes:
   git subtree pull --prefix=src/msg/ros-carla-msgs --squash https://github.com/carla-simulator/ros-carla-msgs.git master
   

3. The ros2_numpy repository facilitates translating between ROS messages and numpy:

   # To make the subtree for ros2_numpy:
   git subtree add --prefix=src/tools/ros2_numpy --squash https://github.com/Box-Robotics/ros2_numpy.git humble
   # To pull new changes:
   git subtree pull --prefix=src/tools/ros2_numpy --squash https://github.com/Box-Robotics/ros2_numpy.git humble
   

In the carla_interface Repository

1. As before, we bring in Nova’s navigator_msgs repository:

   git subtree add --prefix=src/msg/navigator_msgs --squash https://github.com/Nova-UTD/navigator_msgs.git main
   git subtree pull --prefix=src/msg/navigator_msgs --squash https://github.com/Nova-UTD/navigator_msgs.git main
   

2. As before, we bring in the ros2_numpy repository (note that the carla_interface uses ROS2 foxy):

   git subtree add --prefix=src/tools/ros2_numpy --squash https://github.com/Box-Robotics/ros2_numpy.git foxy-devel
   git subtree pull --prefix=src/tools/ros2_numpy --squash https://github.com/Box-Robotics/ros2_numpy.git foxy-devel
   

In the vehicle_interface Repository

1. This repository also uses the ros2_numpy repository:

   git subtree add --prefix=src/tools/ros2_numpy --squash https://github.com/Box-Robotics/ros2_numpy.git humble
   git subtree pull --prefix=src/tools/ros2_numpy --squash https://github.com/Box-Robotics/ros2_numpy.git humble