interfacing_bringup

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/WATonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Bringup package used to launch drivers for Eve.

Maintainers

WATonomous

Authors

No additional authors.

interfacing_bringup

Meta-package that coordinates launch of all interfacing subsystems for Eve — sensors, CAN/control, and health monitoring.

Overview

Rather than launching drivers and control nodes individually, this package provides a single entry point. It composes three subsystem launch files and a shared config file so the full stack comes up with one command.

Architecture

interfacing.launch.yaml
├── interfacing_sensors.launch.yaml     GPS, LiDARs, cameras
├── interfacing_can.launch.yaml         joystick, mux, PID, OSCC, CAN state estimator
└── topic_healthchecker                 liveness monitoring over HTTP

Sensor drivers are third-party ROS packages declared as rosdep keys and launched directly:

Novatel OEM7 (GPS + IMU)
FLIR Blackfly GigE (cameras, 12 total)
Velodyne VLP32C / VLP16 (LiDARs, 3 total)

CAN/control stack is all first-party code in this repo: joy_node → joystick_node → ackermann_mux → ackermann_smoother → pid_control → oscc_mux → oscc_interfacing

All parameters for every subsystem are consolidated in config/interfacing.yaml.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	sensor_interfacing
	lidar_aggregator
	eve_description
	can_state_estimator
	oscc_mux
	topic_healthchecker
	rmw_zenoh_cpp

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `interfacing_bringup` at Robotics Stack Exchange

interfacing_bringup package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/WATonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Bringup package used to launch drivers for Eve.

Maintainers

WATonomous

Authors

No additional authors.

interfacing_bringup

Meta-package that coordinates launch of all interfacing subsystems for Eve — sensors, CAN/control, and health monitoring.

Overview

Rather than launching drivers and control nodes individually, this package provides a single entry point. It composes three subsystem launch files and a shared config file so the full stack comes up with one command.

Architecture

interfacing.launch.yaml
├── interfacing_sensors.launch.yaml     GPS, LiDARs, cameras
├── interfacing_can.launch.yaml         joystick, mux, PID, OSCC, CAN state estimator
└── topic_healthchecker                 liveness monitoring over HTTP

Sensor drivers are third-party ROS packages declared as rosdep keys and launched directly:

Novatel OEM7 (GPS + IMU)
FLIR Blackfly GigE (cameras, 12 total)
Velodyne VLP32C / VLP16 (LiDARs, 3 total)

CAN/control stack is all first-party code in this repo: joy_node → joystick_node → ackermann_mux → ackermann_smoother → pid_control → oscc_mux → oscc_interfacing

All parameters for every subsystem are consolidated in config/interfacing.yaml.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	sensor_interfacing
	lidar_aggregator
	eve_description
	can_state_estimator
	oscc_mux
	topic_healthchecker
	rmw_zenoh_cpp

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `interfacing_bringup` at Robotics Stack Exchange

No version for distro kilted showing jazzy. Known supported distros are highlighted in the buttons above.

interfacing_bringup package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/WATonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Bringup package used to launch drivers for Eve.

Maintainers

WATonomous

Authors

No additional authors.

interfacing_bringup

Meta-package that coordinates launch of all interfacing subsystems for Eve — sensors, CAN/control, and health monitoring.

Overview

Rather than launching drivers and control nodes individually, this package provides a single entry point. It composes three subsystem launch files and a shared config file so the full stack comes up with one command.

Architecture

interfacing.launch.yaml
├── interfacing_sensors.launch.yaml     GPS, LiDARs, cameras
├── interfacing_can.launch.yaml         joystick, mux, PID, OSCC, CAN state estimator
└── topic_healthchecker                 liveness monitoring over HTTP

Sensor drivers are third-party ROS packages declared as rosdep keys and launched directly:

Novatel OEM7 (GPS + IMU)
FLIR Blackfly GigE (cameras, 12 total)
Velodyne VLP32C / VLP16 (LiDARs, 3 total)

CAN/control stack is all first-party code in this repo: joy_node → joystick_node → ackermann_mux → ackermann_smoother → pid_control → oscc_mux → oscc_interfacing

All parameters for every subsystem are consolidated in config/interfacing.yaml.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	sensor_interfacing
	lidar_aggregator
	eve_description
	can_state_estimator
	oscc_mux
	topic_healthchecker
	rmw_zenoh_cpp

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `interfacing_bringup` at Robotics Stack Exchange

No version for distro lyrical showing jazzy. Known supported distros are highlighted in the buttons above.

interfacing_bringup package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/WATonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Bringup package used to launch drivers for Eve.

Maintainers

WATonomous

Authors

No additional authors.

interfacing_bringup

Meta-package that coordinates launch of all interfacing subsystems for Eve — sensors, CAN/control, and health monitoring.

Overview

Rather than launching drivers and control nodes individually, this package provides a single entry point. It composes three subsystem launch files and a shared config file so the full stack comes up with one command.

Architecture

interfacing.launch.yaml
├── interfacing_sensors.launch.yaml     GPS, LiDARs, cameras
├── interfacing_can.launch.yaml         joystick, mux, PID, OSCC, CAN state estimator
└── topic_healthchecker                 liveness monitoring over HTTP

Sensor drivers are third-party ROS packages declared as rosdep keys and launched directly:

Novatel OEM7 (GPS + IMU)
FLIR Blackfly GigE (cameras, 12 total)
Velodyne VLP32C / VLP16 (LiDARs, 3 total)

CAN/control stack is all first-party code in this repo: joy_node → joystick_node → ackermann_mux → ackermann_smoother → pid_control → oscc_mux → oscc_interfacing

All parameters for every subsystem are consolidated in config/interfacing.yaml.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	sensor_interfacing
	lidar_aggregator
	eve_description
	can_state_estimator
	oscc_mux
	topic_healthchecker
	rmw_zenoh_cpp

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `interfacing_bringup` at Robotics Stack Exchange

No version for distro rolling showing jazzy. Known supported distros are highlighted in the buttons above.

interfacing_bringup package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/WATonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Bringup package used to launch drivers for Eve.

Maintainers

WATonomous

Authors

No additional authors.

interfacing_bringup

Meta-package that coordinates launch of all interfacing subsystems for Eve — sensors, CAN/control, and health monitoring.

Overview

Rather than launching drivers and control nodes individually, this package provides a single entry point. It composes three subsystem launch files and a shared config file so the full stack comes up with one command.

Architecture

interfacing.launch.yaml
├── interfacing_sensors.launch.yaml     GPS, LiDARs, cameras
├── interfacing_can.launch.yaml         joystick, mux, PID, OSCC, CAN state estimator
└── topic_healthchecker                 liveness monitoring over HTTP

Sensor drivers are third-party ROS packages declared as rosdep keys and launched directly:

Novatel OEM7 (GPS + IMU)
FLIR Blackfly GigE (cameras, 12 total)
Velodyne VLP32C / VLP16 (LiDARs, 3 total)

CAN/control stack is all first-party code in this repo: joy_node → joystick_node → ackermann_mux → ackermann_smoother → pid_control → oscc_mux → oscc_interfacing

All parameters for every subsystem are consolidated in config/interfacing.yaml.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	sensor_interfacing
	lidar_aggregator
	eve_description
	can_state_estimator
	oscc_mux
	topic_healthchecker
	rmw_zenoh_cpp

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `interfacing_bringup` at Robotics Stack Exchange

No version for distro ardent showing jazzy. Known supported distros are highlighted in the buttons above.

interfacing_bringup package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/WATonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Bringup package used to launch drivers for Eve.

Maintainers

WATonomous

Authors

No additional authors.

interfacing_bringup

Meta-package that coordinates launch of all interfacing subsystems for Eve — sensors, CAN/control, and health monitoring.

Overview

Rather than launching drivers and control nodes individually, this package provides a single entry point. It composes three subsystem launch files and a shared config file so the full stack comes up with one command.

Architecture

interfacing.launch.yaml
├── interfacing_sensors.launch.yaml     GPS, LiDARs, cameras
├── interfacing_can.launch.yaml         joystick, mux, PID, OSCC, CAN state estimator
└── topic_healthchecker                 liveness monitoring over HTTP

Sensor drivers are third-party ROS packages declared as rosdep keys and launched directly:

Novatel OEM7 (GPS + IMU)
FLIR Blackfly GigE (cameras, 12 total)
Velodyne VLP32C / VLP16 (LiDARs, 3 total)

CAN/control stack is all first-party code in this repo: joy_node → joystick_node → ackermann_mux → ackermann_smoother → pid_control → oscc_mux → oscc_interfacing

All parameters for every subsystem are consolidated in config/interfacing.yaml.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	sensor_interfacing
	lidar_aggregator
	eve_description
	can_state_estimator
	oscc_mux
	topic_healthchecker
	rmw_zenoh_cpp

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `interfacing_bringup` at Robotics Stack Exchange

No version for distro bouncy showing jazzy. Known supported distros are highlighted in the buttons above.

interfacing_bringup package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/WATonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Bringup package used to launch drivers for Eve.

Maintainers

WATonomous

Authors

No additional authors.

interfacing_bringup

Meta-package that coordinates launch of all interfacing subsystems for Eve — sensors, CAN/control, and health monitoring.

Overview

Rather than launching drivers and control nodes individually, this package provides a single entry point. It composes three subsystem launch files and a shared config file so the full stack comes up with one command.

Architecture

interfacing.launch.yaml
├── interfacing_sensors.launch.yaml     GPS, LiDARs, cameras
├── interfacing_can.launch.yaml         joystick, mux, PID, OSCC, CAN state estimator
└── topic_healthchecker                 liveness monitoring over HTTP

Sensor drivers are third-party ROS packages declared as rosdep keys and launched directly:

Novatel OEM7 (GPS + IMU)
FLIR Blackfly GigE (cameras, 12 total)
Velodyne VLP32C / VLP16 (LiDARs, 3 total)

CAN/control stack is all first-party code in this repo: joy_node → joystick_node → ackermann_mux → ackermann_smoother → pid_control → oscc_mux → oscc_interfacing

All parameters for every subsystem are consolidated in config/interfacing.yaml.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	sensor_interfacing
	lidar_aggregator
	eve_description
	can_state_estimator
	oscc_mux
	topic_healthchecker
	rmw_zenoh_cpp

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `interfacing_bringup` at Robotics Stack Exchange

No version for distro crystal showing jazzy. Known supported distros are highlighted in the buttons above.

interfacing_bringup package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/WATonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Bringup package used to launch drivers for Eve.

Maintainers

WATonomous

Authors

No additional authors.

interfacing_bringup

Meta-package that coordinates launch of all interfacing subsystems for Eve — sensors, CAN/control, and health monitoring.

Overview

Rather than launching drivers and control nodes individually, this package provides a single entry point. It composes three subsystem launch files and a shared config file so the full stack comes up with one command.

Architecture

interfacing.launch.yaml
├── interfacing_sensors.launch.yaml     GPS, LiDARs, cameras
├── interfacing_can.launch.yaml         joystick, mux, PID, OSCC, CAN state estimator
└── topic_healthchecker                 liveness monitoring over HTTP

Sensor drivers are third-party ROS packages declared as rosdep keys and launched directly:

Novatel OEM7 (GPS + IMU)
FLIR Blackfly GigE (cameras, 12 total)
Velodyne VLP32C / VLP16 (LiDARs, 3 total)

CAN/control stack is all first-party code in this repo: joy_node → joystick_node → ackermann_mux → ackermann_smoother → pid_control → oscc_mux → oscc_interfacing

All parameters for every subsystem are consolidated in config/interfacing.yaml.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	sensor_interfacing
	lidar_aggregator
	eve_description
	can_state_estimator
	oscc_mux
	topic_healthchecker
	rmw_zenoh_cpp

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `interfacing_bringup` at Robotics Stack Exchange

No version for distro eloquent showing jazzy. Known supported distros are highlighted in the buttons above.

interfacing_bringup package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/WATonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Bringup package used to launch drivers for Eve.

Maintainers

WATonomous

Authors

No additional authors.

interfacing_bringup

Meta-package that coordinates launch of all interfacing subsystems for Eve — sensors, CAN/control, and health monitoring.

Overview

Rather than launching drivers and control nodes individually, this package provides a single entry point. It composes three subsystem launch files and a shared config file so the full stack comes up with one command.

Architecture

interfacing.launch.yaml
├── interfacing_sensors.launch.yaml     GPS, LiDARs, cameras
├── interfacing_can.launch.yaml         joystick, mux, PID, OSCC, CAN state estimator
└── topic_healthchecker                 liveness monitoring over HTTP

Sensor drivers are third-party ROS packages declared as rosdep keys and launched directly:

Novatel OEM7 (GPS + IMU)
FLIR Blackfly GigE (cameras, 12 total)
Velodyne VLP32C / VLP16 (LiDARs, 3 total)

CAN/control stack is all first-party code in this repo: joy_node → joystick_node → ackermann_mux → ackermann_smoother → pid_control → oscc_mux → oscc_interfacing

All parameters for every subsystem are consolidated in config/interfacing.yaml.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	sensor_interfacing
	lidar_aggregator
	eve_description
	can_state_estimator
	oscc_mux
	topic_healthchecker
	rmw_zenoh_cpp

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `interfacing_bringup` at Robotics Stack Exchange

No version for distro dashing showing jazzy. Known supported distros are highlighted in the buttons above.

interfacing_bringup package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/WATonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Bringup package used to launch drivers for Eve.

Maintainers

WATonomous

Authors

No additional authors.

interfacing_bringup

Meta-package that coordinates launch of all interfacing subsystems for Eve — sensors, CAN/control, and health monitoring.

Overview

Rather than launching drivers and control nodes individually, this package provides a single entry point. It composes three subsystem launch files and a shared config file so the full stack comes up with one command.

Architecture

interfacing.launch.yaml
├── interfacing_sensors.launch.yaml     GPS, LiDARs, cameras
├── interfacing_can.launch.yaml         joystick, mux, PID, OSCC, CAN state estimator
└── topic_healthchecker                 liveness monitoring over HTTP

Sensor drivers are third-party ROS packages declared as rosdep keys and launched directly:

Novatel OEM7 (GPS + IMU)
FLIR Blackfly GigE (cameras, 12 total)
Velodyne VLP32C / VLP16 (LiDARs, 3 total)

CAN/control stack is all first-party code in this repo: joy_node → joystick_node → ackermann_mux → ackermann_smoother → pid_control → oscc_mux → oscc_interfacing

All parameters for every subsystem are consolidated in config/interfacing.yaml.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	sensor_interfacing
	lidar_aggregator
	eve_description
	can_state_estimator
	oscc_mux
	topic_healthchecker
	rmw_zenoh_cpp

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `interfacing_bringup` at Robotics Stack Exchange

No version for distro galactic showing jazzy. Known supported distros are highlighted in the buttons above.

interfacing_bringup package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/WATonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Bringup package used to launch drivers for Eve.

Maintainers

WATonomous

Authors

No additional authors.

interfacing_bringup

Meta-package that coordinates launch of all interfacing subsystems for Eve — sensors, CAN/control, and health monitoring.

Overview

Rather than launching drivers and control nodes individually, this package provides a single entry point. It composes three subsystem launch files and a shared config file so the full stack comes up with one command.

Architecture

interfacing.launch.yaml
├── interfacing_sensors.launch.yaml     GPS, LiDARs, cameras
├── interfacing_can.launch.yaml         joystick, mux, PID, OSCC, CAN state estimator
└── topic_healthchecker                 liveness monitoring over HTTP

Sensor drivers are third-party ROS packages declared as rosdep keys and launched directly:

Novatel OEM7 (GPS + IMU)
FLIR Blackfly GigE (cameras, 12 total)
Velodyne VLP32C / VLP16 (LiDARs, 3 total)

CAN/control stack is all first-party code in this repo: joy_node → joystick_node → ackermann_mux → ackermann_smoother → pid_control → oscc_mux → oscc_interfacing

All parameters for every subsystem are consolidated in config/interfacing.yaml.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	sensor_interfacing
	lidar_aggregator
	eve_description
	can_state_estimator
	oscc_mux
	topic_healthchecker
	rmw_zenoh_cpp

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `interfacing_bringup` at Robotics Stack Exchange

No version for distro foxy showing jazzy. Known supported distros are highlighted in the buttons above.

interfacing_bringup package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/WATonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Bringup package used to launch drivers for Eve.

Maintainers

WATonomous

Authors

No additional authors.

interfacing_bringup

Meta-package that coordinates launch of all interfacing subsystems for Eve — sensors, CAN/control, and health monitoring.

Overview

Rather than launching drivers and control nodes individually, this package provides a single entry point. It composes three subsystem launch files and a shared config file so the full stack comes up with one command.

Architecture

interfacing.launch.yaml
├── interfacing_sensors.launch.yaml     GPS, LiDARs, cameras
├── interfacing_can.launch.yaml         joystick, mux, PID, OSCC, CAN state estimator
└── topic_healthchecker                 liveness monitoring over HTTP

Sensor drivers are third-party ROS packages declared as rosdep keys and launched directly:

Novatel OEM7 (GPS + IMU)
FLIR Blackfly GigE (cameras, 12 total)
Velodyne VLP32C / VLP16 (LiDARs, 3 total)

CAN/control stack is all first-party code in this repo: joy_node → joystick_node → ackermann_mux → ackermann_smoother → pid_control → oscc_mux → oscc_interfacing

All parameters for every subsystem are consolidated in config/interfacing.yaml.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	sensor_interfacing
	lidar_aggregator
	eve_description
	can_state_estimator
	oscc_mux
	topic_healthchecker
	rmw_zenoh_cpp

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `interfacing_bringup` at Robotics Stack Exchange

No version for distro iron showing jazzy. Known supported distros are highlighted in the buttons above.

interfacing_bringup package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/WATonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Bringup package used to launch drivers for Eve.

Maintainers

WATonomous

Authors

No additional authors.

interfacing_bringup

Meta-package that coordinates launch of all interfacing subsystems for Eve — sensors, CAN/control, and health monitoring.

Overview

Rather than launching drivers and control nodes individually, this package provides a single entry point. It composes three subsystem launch files and a shared config file so the full stack comes up with one command.

Architecture

interfacing.launch.yaml
├── interfacing_sensors.launch.yaml     GPS, LiDARs, cameras
├── interfacing_can.launch.yaml         joystick, mux, PID, OSCC, CAN state estimator
└── topic_healthchecker                 liveness monitoring over HTTP

Sensor drivers are third-party ROS packages declared as rosdep keys and launched directly:

Novatel OEM7 (GPS + IMU)
FLIR Blackfly GigE (cameras, 12 total)
Velodyne VLP32C / VLP16 (LiDARs, 3 total)

CAN/control stack is all first-party code in this repo: joy_node → joystick_node → ackermann_mux → ackermann_smoother → pid_control → oscc_mux → oscc_interfacing

All parameters for every subsystem are consolidated in config/interfacing.yaml.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	sensor_interfacing
	lidar_aggregator
	eve_description
	can_state_estimator
	oscc_mux
	topic_healthchecker
	rmw_zenoh_cpp

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `interfacing_bringup` at Robotics Stack Exchange

No version for distro lunar showing jazzy. Known supported distros are highlighted in the buttons above.

interfacing_bringup package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/WATonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Bringup package used to launch drivers for Eve.

Maintainers

WATonomous

Authors

No additional authors.

interfacing_bringup

Meta-package that coordinates launch of all interfacing subsystems for Eve — sensors, CAN/control, and health monitoring.

Overview

Rather than launching drivers and control nodes individually, this package provides a single entry point. It composes three subsystem launch files and a shared config file so the full stack comes up with one command.

Architecture

interfacing.launch.yaml
├── interfacing_sensors.launch.yaml     GPS, LiDARs, cameras
├── interfacing_can.launch.yaml         joystick, mux, PID, OSCC, CAN state estimator
└── topic_healthchecker                 liveness monitoring over HTTP

Sensor drivers are third-party ROS packages declared as rosdep keys and launched directly:

Novatel OEM7 (GPS + IMU)
FLIR Blackfly GigE (cameras, 12 total)
Velodyne VLP32C / VLP16 (LiDARs, 3 total)

CAN/control stack is all first-party code in this repo: joy_node → joystick_node → ackermann_mux → ackermann_smoother → pid_control → oscc_mux → oscc_interfacing

All parameters for every subsystem are consolidated in config/interfacing.yaml.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	sensor_interfacing
	lidar_aggregator
	eve_description
	can_state_estimator
	oscc_mux
	topic_healthchecker
	rmw_zenoh_cpp

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `interfacing_bringup` at Robotics Stack Exchange

No version for distro jade showing jazzy. Known supported distros are highlighted in the buttons above.

interfacing_bringup package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/WATonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Bringup package used to launch drivers for Eve.

Maintainers

WATonomous

Authors

No additional authors.

interfacing_bringup

Meta-package that coordinates launch of all interfacing subsystems for Eve — sensors, CAN/control, and health monitoring.

Overview

Rather than launching drivers and control nodes individually, this package provides a single entry point. It composes three subsystem launch files and a shared config file so the full stack comes up with one command.

Architecture

interfacing.launch.yaml
├── interfacing_sensors.launch.yaml     GPS, LiDARs, cameras
├── interfacing_can.launch.yaml         joystick, mux, PID, OSCC, CAN state estimator
└── topic_healthchecker                 liveness monitoring over HTTP

Sensor drivers are third-party ROS packages declared as rosdep keys and launched directly:

Novatel OEM7 (GPS + IMU)
FLIR Blackfly GigE (cameras, 12 total)
Velodyne VLP32C / VLP16 (LiDARs, 3 total)

CAN/control stack is all first-party code in this repo: joy_node → joystick_node → ackermann_mux → ackermann_smoother → pid_control → oscc_mux → oscc_interfacing

All parameters for every subsystem are consolidated in config/interfacing.yaml.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	sensor_interfacing
	lidar_aggregator
	eve_description
	can_state_estimator
	oscc_mux
	topic_healthchecker
	rmw_zenoh_cpp

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `interfacing_bringup` at Robotics Stack Exchange

No version for distro indigo showing jazzy. Known supported distros are highlighted in the buttons above.

interfacing_bringup package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/WATonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Bringup package used to launch drivers for Eve.

Maintainers

WATonomous

Authors

No additional authors.

interfacing_bringup

Meta-package that coordinates launch of all interfacing subsystems for Eve — sensors, CAN/control, and health monitoring.

Overview

Rather than launching drivers and control nodes individually, this package provides a single entry point. It composes three subsystem launch files and a shared config file so the full stack comes up with one command.

Architecture

interfacing.launch.yaml
├── interfacing_sensors.launch.yaml     GPS, LiDARs, cameras
├── interfacing_can.launch.yaml         joystick, mux, PID, OSCC, CAN state estimator
└── topic_healthchecker                 liveness monitoring over HTTP

Sensor drivers are third-party ROS packages declared as rosdep keys and launched directly:

Novatel OEM7 (GPS + IMU)
FLIR Blackfly GigE (cameras, 12 total)
Velodyne VLP32C / VLP16 (LiDARs, 3 total)

CAN/control stack is all first-party code in this repo: joy_node → joystick_node → ackermann_mux → ackermann_smoother → pid_control → oscc_mux → oscc_interfacing

All parameters for every subsystem are consolidated in config/interfacing.yaml.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	sensor_interfacing
	lidar_aggregator
	eve_description
	can_state_estimator
	oscc_mux
	topic_healthchecker
	rmw_zenoh_cpp

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `interfacing_bringup` at Robotics Stack Exchange

No version for distro hydro showing jazzy. Known supported distros are highlighted in the buttons above.

interfacing_bringup package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/WATonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Bringup package used to launch drivers for Eve.

Maintainers

WATonomous

Authors

No additional authors.

interfacing_bringup

Meta-package that coordinates launch of all interfacing subsystems for Eve — sensors, CAN/control, and health monitoring.

Overview

Rather than launching drivers and control nodes individually, this package provides a single entry point. It composes three subsystem launch files and a shared config file so the full stack comes up with one command.

Architecture

interfacing.launch.yaml
├── interfacing_sensors.launch.yaml     GPS, LiDARs, cameras
├── interfacing_can.launch.yaml         joystick, mux, PID, OSCC, CAN state estimator
└── topic_healthchecker                 liveness monitoring over HTTP

Sensor drivers are third-party ROS packages declared as rosdep keys and launched directly:

Novatel OEM7 (GPS + IMU)
FLIR Blackfly GigE (cameras, 12 total)
Velodyne VLP32C / VLP16 (LiDARs, 3 total)

CAN/control stack is all first-party code in this repo: joy_node → joystick_node → ackermann_mux → ackermann_smoother → pid_control → oscc_mux → oscc_interfacing

All parameters for every subsystem are consolidated in config/interfacing.yaml.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	sensor_interfacing
	lidar_aggregator
	eve_description
	can_state_estimator
	oscc_mux
	topic_healthchecker
	rmw_zenoh_cpp

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `interfacing_bringup` at Robotics Stack Exchange

No version for distro kinetic showing jazzy. Known supported distros are highlighted in the buttons above.

interfacing_bringup package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/WATonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Bringup package used to launch drivers for Eve.

Maintainers

WATonomous

Authors

No additional authors.

interfacing_bringup

Meta-package that coordinates launch of all interfacing subsystems for Eve — sensors, CAN/control, and health monitoring.

Overview

Rather than launching drivers and control nodes individually, this package provides a single entry point. It composes three subsystem launch files and a shared config file so the full stack comes up with one command.

Architecture

interfacing.launch.yaml
├── interfacing_sensors.launch.yaml     GPS, LiDARs, cameras
├── interfacing_can.launch.yaml         joystick, mux, PID, OSCC, CAN state estimator
└── topic_healthchecker                 liveness monitoring over HTTP

Sensor drivers are third-party ROS packages declared as rosdep keys and launched directly:

Novatel OEM7 (GPS + IMU)
FLIR Blackfly GigE (cameras, 12 total)
Velodyne VLP32C / VLP16 (LiDARs, 3 total)

CAN/control stack is all first-party code in this repo: joy_node → joystick_node → ackermann_mux → ackermann_smoother → pid_control → oscc_mux → oscc_interfacing

All parameters for every subsystem are consolidated in config/interfacing.yaml.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	sensor_interfacing
	lidar_aggregator
	eve_description
	can_state_estimator
	oscc_mux
	topic_healthchecker
	rmw_zenoh_cpp

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `interfacing_bringup` at Robotics Stack Exchange

No version for distro melodic showing jazzy. Known supported distros are highlighted in the buttons above.

interfacing_bringup package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/WATonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Bringup package used to launch drivers for Eve.

Maintainers

WATonomous

Authors

No additional authors.

interfacing_bringup

Meta-package that coordinates launch of all interfacing subsystems for Eve — sensors, CAN/control, and health monitoring.

Overview

Rather than launching drivers and control nodes individually, this package provides a single entry point. It composes three subsystem launch files and a shared config file so the full stack comes up with one command.

Architecture

interfacing.launch.yaml
├── interfacing_sensors.launch.yaml     GPS, LiDARs, cameras
├── interfacing_can.launch.yaml         joystick, mux, PID, OSCC, CAN state estimator
└── topic_healthchecker                 liveness monitoring over HTTP

Sensor drivers are third-party ROS packages declared as rosdep keys and launched directly:

Novatel OEM7 (GPS + IMU)
FLIR Blackfly GigE (cameras, 12 total)
Velodyne VLP32C / VLP16 (LiDARs, 3 total)

CAN/control stack is all first-party code in this repo: joy_node → joystick_node → ackermann_mux → ackermann_smoother → pid_control → oscc_mux → oscc_interfacing

All parameters for every subsystem are consolidated in config/interfacing.yaml.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	sensor_interfacing
	lidar_aggregator
	eve_description
	can_state_estimator
	oscc_mux
	topic_healthchecker
	rmw_zenoh_cpp

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `interfacing_bringup` at Robotics Stack Exchange

No version for distro noetic showing jazzy. Known supported distros are highlighted in the buttons above.

interfacing_bringup package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/WATonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Bringup package used to launch drivers for Eve.

Maintainers

WATonomous

Authors

No additional authors.

interfacing_bringup

Meta-package that coordinates launch of all interfacing subsystems for Eve — sensors, CAN/control, and health monitoring.

Overview

Rather than launching drivers and control nodes individually, this package provides a single entry point. It composes three subsystem launch files and a shared config file so the full stack comes up with one command.

Architecture

interfacing.launch.yaml
├── interfacing_sensors.launch.yaml     GPS, LiDARs, cameras
├── interfacing_can.launch.yaml         joystick, mux, PID, OSCC, CAN state estimator
└── topic_healthchecker                 liveness monitoring over HTTP

Sensor drivers are third-party ROS packages declared as rosdep keys and launched directly:

Novatel OEM7 (GPS + IMU)
FLIR Blackfly GigE (cameras, 12 total)
Velodyne VLP32C / VLP16 (LiDARs, 3 total)

CAN/control stack is all first-party code in this repo: joy_node → joystick_node → ackermann_mux → ackermann_smoother → pid_control → oscc_mux → oscc_interfacing

All parameters for every subsystem are consolidated in config/interfacing.yaml.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	sensor_interfacing
	lidar_aggregator
	eve_description
	can_state_estimator
	oscc_mux
	topic_healthchecker
	rmw_zenoh_cpp

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `interfacing_bringup` at Robotics Stack Exchange