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wato_monorepo repository

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

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 (-)

Packages

Name Version
ackermann_pure_pursuit 0.1.0
action_bringup 0.0.0
freeroam_planner 0.1.0
global_planning 0.0.0
lattice_planning 0.0.0
lattice_planning_markers 0.1.0
lattice_planning_msgs 0.1.0
model_predictive_control 0.0.0
mpc_controller 0.0.0
osqp_eigen_vendor 0.0.0
trajectory_planner 1.0.0
wato_trajectory_msgs 0.0.0
infrastructure_bringup 0.0.0
tf_static_relay 0.0.0
vision_msgs_markers 0.0.0
wato_lifecycle_manager 0.1.0
ackermann_mux 0.0.0
camera_calib 0.0.0
lidar_imu_calib 0.0.0
lidar_lidar_calib 0.0.0
can_state_estimator 0.0.0
dummy_ackermann 0.0.0
eve_description 0.0.0
interfacing_bringup 0.0.0
joystick_interfacing 0.0.0
lidar_aggregator 0.0.0
oscc_interfacing 0.0.0
oscc_mux 0.0.0
pid_control 0.0.0
pid_msgs 0.0.0
roscco_msg 0.0.0
sensor_interfacing 0.0.0
topic_healthchecker 0.0.0
attribute_assigner 0.1.0
depth_estimation 0.0.0
feature_extraction 0.0.0
patchworkpp 0.1.0
patchworkpp_vendor 0.0.0
perception_bringup 0.0.0
perception_utils 0.0.1
spatial_association 0.1.0
bytetrack_cpp_vendor 0.0.0
track_viz_2d 0.0.0
tracking 0.0.0
traffic_light_detection 0.0.0
carla_bringup 1.0.0
carla_common 0.1.0
carla_control 1.0.0
carla_lifecycle 1.0.0
carla_localization 1.0.0
carla_msgs 1.0.0
carla_perception 1.0.0
carla_pygame 1.0.0
carla_ros_bridge 1.0.0
carla_sample_description 1.0.0
carla_scenarios 1.0.0
carla_teleop 1.0.0
simulation_bringup 0.0.0
wato_test 0.1.0
behaviortree_ros2_vendor 0.0.0
behaviour 0.0.0
behaviour_markers 0.1.0
behaviour_msgs 0.1.0
costmap 0.1.0
costmap_markers 0.1.0
costmap_msgs 0.1.0
eidos 0.1.0
eidos_msgs 0.1.0
eidos_tools 0.1.0
eidos_transform 0.1.0
lanelet_markers 0.1.0
lanelet_msgs 0.1.0
lidar_localization 0.0.0
prediction 0.0.1
world_model 0.1.0
world_model_markers 0.1.0
world_model_msgs 0.1.0
world_modeling_bringup 0.0.0

README

WATonomous Monorepo (for EVE)

Dockerized monorepo for the WATonomous autonomous vehicle project (dubbed EVE).

Prerequisite Installation

These steps are to setup the monorepo to work on your own PC. We utilize docker to enable ease of reproducibility and deployability.

Why docker? It’s so that you don’t need to download any coding libraries on your bare metal pc, saving headache :3

  1. Our monorepo infrastructure supports Linux Ubuntu >= 22.04, Windows (WSL/WSL2), and MacOS. Though, aspects of this repo might require specific hardware like NVidia GPUs.
  2. Once inside Linux, Download Docker Engine using the apt repository. If you are using WSL, install docker outside of WSL, it will automatically setup docker within WSL for you.
  3. You’re all set! Information on running the monorepo with our infrastructure is given here

Large File Storage

Some nodes require larger files like model weights and maps. Furthermore, we might want to test our codebase on bag recordings which are even larger. These files are stored in our Google Drive (Only accessible by WATonomous members):

  • Bag Recordings (place inside a wato_monorepo/bags/ directory for full functionality)
  • Maps (place inside a wato_monorepo/maps/ directory for full functionality)
    • REQUIRED by world_modeling (map elements for localization on an existing map, .osm file for HD map) (not required when running simulation)
  • Weights (place inside a wato_monorepo/weights/ directory for full funtionality)
    • REQUIRED by perception (model weights for inference)

Available Modules

Infrastructure Starts the foxglove bridge and data streamer for rosbags.

Interfacing Launches packages directly connecting to hardware. This includes the sensors of the car and the car itself. see docs

Perception Launches packages for perception. see docs

World Modeling Launches packages for world modeling. see docs

Action Launches packages for action. see docs

Simulation Launches packages CARLA simulator. see docs

System Architecture

Contribute

Information on contributing to the monorepo is given in DEVELOPING.md

CONTRIBUTING

Repo symbol

wato_monorepo repository

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

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 (-)

Packages

Name Version
ackermann_pure_pursuit 0.1.0
action_bringup 0.0.0
freeroam_planner 0.1.0
global_planning 0.0.0
lattice_planning 0.0.0
lattice_planning_markers 0.1.0
lattice_planning_msgs 0.1.0
model_predictive_control 0.0.0
mpc_controller 0.0.0
osqp_eigen_vendor 0.0.0
trajectory_planner 1.0.0
wato_trajectory_msgs 0.0.0
infrastructure_bringup 0.0.0
tf_static_relay 0.0.0
vision_msgs_markers 0.0.0
wato_lifecycle_manager 0.1.0
ackermann_mux 0.0.0
camera_calib 0.0.0
lidar_imu_calib 0.0.0
lidar_lidar_calib 0.0.0
can_state_estimator 0.0.0
dummy_ackermann 0.0.0
eve_description 0.0.0
interfacing_bringup 0.0.0
joystick_interfacing 0.0.0
lidar_aggregator 0.0.0
oscc_interfacing 0.0.0
oscc_mux 0.0.0
pid_control 0.0.0
pid_msgs 0.0.0
roscco_msg 0.0.0
sensor_interfacing 0.0.0
topic_healthchecker 0.0.0
attribute_assigner 0.1.0
depth_estimation 0.0.0
feature_extraction 0.0.0
patchworkpp 0.1.0
patchworkpp_vendor 0.0.0
perception_bringup 0.0.0
perception_utils 0.0.1
spatial_association 0.1.0
bytetrack_cpp_vendor 0.0.0
track_viz_2d 0.0.0
tracking 0.0.0
traffic_light_detection 0.0.0
carla_bringup 1.0.0
carla_common 0.1.0
carla_control 1.0.0
carla_lifecycle 1.0.0
carla_localization 1.0.0
carla_msgs 1.0.0
carla_perception 1.0.0
carla_pygame 1.0.0
carla_ros_bridge 1.0.0
carla_sample_description 1.0.0
carla_scenarios 1.0.0
carla_teleop 1.0.0
simulation_bringup 0.0.0
wato_test 0.1.0
behaviortree_ros2_vendor 0.0.0
behaviour 0.0.0
behaviour_markers 0.1.0
behaviour_msgs 0.1.0
costmap 0.1.0
costmap_markers 0.1.0
costmap_msgs 0.1.0
eidos 0.1.0
eidos_msgs 0.1.0
eidos_tools 0.1.0
eidos_transform 0.1.0
lanelet_markers 0.1.0
lanelet_msgs 0.1.0
lidar_localization 0.0.0
prediction 0.0.1
world_model 0.1.0
world_model_markers 0.1.0
world_model_msgs 0.1.0
world_modeling_bringup 0.0.0

README

WATonomous Monorepo (for EVE)

Dockerized monorepo for the WATonomous autonomous vehicle project (dubbed EVE).

Prerequisite Installation

These steps are to setup the monorepo to work on your own PC. We utilize docker to enable ease of reproducibility and deployability.

Why docker? It’s so that you don’t need to download any coding libraries on your bare metal pc, saving headache :3

  1. Our monorepo infrastructure supports Linux Ubuntu >= 22.04, Windows (WSL/WSL2), and MacOS. Though, aspects of this repo might require specific hardware like NVidia GPUs.
  2. Once inside Linux, Download Docker Engine using the apt repository. If you are using WSL, install docker outside of WSL, it will automatically setup docker within WSL for you.
  3. You’re all set! Information on running the monorepo with our infrastructure is given here

Large File Storage

Some nodes require larger files like model weights and maps. Furthermore, we might want to test our codebase on bag recordings which are even larger. These files are stored in our Google Drive (Only accessible by WATonomous members):

  • Bag Recordings (place inside a wato_monorepo/bags/ directory for full functionality)
  • Maps (place inside a wato_monorepo/maps/ directory for full functionality)
    • REQUIRED by world_modeling (map elements for localization on an existing map, .osm file for HD map) (not required when running simulation)
  • Weights (place inside a wato_monorepo/weights/ directory for full funtionality)
    • REQUIRED by perception (model weights for inference)

Available Modules

Infrastructure Starts the foxglove bridge and data streamer for rosbags.

Interfacing Launches packages directly connecting to hardware. This includes the sensors of the car and the car itself. see docs

Perception Launches packages for perception. see docs

World Modeling Launches packages for world modeling. see docs

Action Launches packages for action. see docs

Simulation Launches packages CARLA simulator. see docs

System Architecture

Contribute

Information on contributing to the monorepo is given in DEVELOPING.md

CONTRIBUTING

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

wato_monorepo repository

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

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 (-)

Packages

Name Version
ackermann_pure_pursuit 0.1.0
action_bringup 0.0.0
freeroam_planner 0.1.0
global_planning 0.0.0
lattice_planning 0.0.0
lattice_planning_markers 0.1.0
lattice_planning_msgs 0.1.0
model_predictive_control 0.0.0
mpc_controller 0.0.0
osqp_eigen_vendor 0.0.0
trajectory_planner 1.0.0
wato_trajectory_msgs 0.0.0
infrastructure_bringup 0.0.0
tf_static_relay 0.0.0
vision_msgs_markers 0.0.0
wato_lifecycle_manager 0.1.0
ackermann_mux 0.0.0
camera_calib 0.0.0
lidar_imu_calib 0.0.0
lidar_lidar_calib 0.0.0
can_state_estimator 0.0.0
dummy_ackermann 0.0.0
eve_description 0.0.0
interfacing_bringup 0.0.0
joystick_interfacing 0.0.0
lidar_aggregator 0.0.0
oscc_interfacing 0.0.0
oscc_mux 0.0.0
pid_control 0.0.0
pid_msgs 0.0.0
roscco_msg 0.0.0
sensor_interfacing 0.0.0
topic_healthchecker 0.0.0
attribute_assigner 0.1.0
depth_estimation 0.0.0
feature_extraction 0.0.0
patchworkpp 0.1.0
patchworkpp_vendor 0.0.0
perception_bringup 0.0.0
perception_utils 0.0.1
spatial_association 0.1.0
bytetrack_cpp_vendor 0.0.0
track_viz_2d 0.0.0
tracking 0.0.0
traffic_light_detection 0.0.0
carla_bringup 1.0.0
carla_common 0.1.0
carla_control 1.0.0
carla_lifecycle 1.0.0
carla_localization 1.0.0
carla_msgs 1.0.0
carla_perception 1.0.0
carla_pygame 1.0.0
carla_ros_bridge 1.0.0
carla_sample_description 1.0.0
carla_scenarios 1.0.0
carla_teleop 1.0.0
simulation_bringup 0.0.0
wato_test 0.1.0
behaviortree_ros2_vendor 0.0.0
behaviour 0.0.0
behaviour_markers 0.1.0
behaviour_msgs 0.1.0
costmap 0.1.0
costmap_markers 0.1.0
costmap_msgs 0.1.0
eidos 0.1.0
eidos_msgs 0.1.0
eidos_tools 0.1.0
eidos_transform 0.1.0
lanelet_markers 0.1.0
lanelet_msgs 0.1.0
lidar_localization 0.0.0
prediction 0.0.1
world_model 0.1.0
world_model_markers 0.1.0
world_model_msgs 0.1.0
world_modeling_bringup 0.0.0

README

WATonomous Monorepo (for EVE)

Dockerized monorepo for the WATonomous autonomous vehicle project (dubbed EVE).

Prerequisite Installation

These steps are to setup the monorepo to work on your own PC. We utilize docker to enable ease of reproducibility and deployability.

Why docker? It’s so that you don’t need to download any coding libraries on your bare metal pc, saving headache :3

  1. Our monorepo infrastructure supports Linux Ubuntu >= 22.04, Windows (WSL/WSL2), and MacOS. Though, aspects of this repo might require specific hardware like NVidia GPUs.
  2. Once inside Linux, Download Docker Engine using the apt repository. If you are using WSL, install docker outside of WSL, it will automatically setup docker within WSL for you.
  3. You’re all set! Information on running the monorepo with our infrastructure is given here

Large File Storage

Some nodes require larger files like model weights and maps. Furthermore, we might want to test our codebase on bag recordings which are even larger. These files are stored in our Google Drive (Only accessible by WATonomous members):

  • Bag Recordings (place inside a wato_monorepo/bags/ directory for full functionality)
  • Maps (place inside a wato_monorepo/maps/ directory for full functionality)
    • REQUIRED by world_modeling (map elements for localization on an existing map, .osm file for HD map) (not required when running simulation)
  • Weights (place inside a wato_monorepo/weights/ directory for full funtionality)
    • REQUIRED by perception (model weights for inference)

Available Modules

Infrastructure Starts the foxglove bridge and data streamer for rosbags.

Interfacing Launches packages directly connecting to hardware. This includes the sensors of the car and the car itself. see docs

Perception Launches packages for perception. see docs

World Modeling Launches packages for world modeling. see docs

Action Launches packages for action. see docs

Simulation Launches packages CARLA simulator. see docs

System Architecture

Contribute

Information on contributing to the monorepo is given in DEVELOPING.md

CONTRIBUTING

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

wato_monorepo repository

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

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 (-)

Packages

Name Version
ackermann_pure_pursuit 0.1.0
action_bringup 0.0.0
freeroam_planner 0.1.0
global_planning 0.0.0
lattice_planning 0.0.0
lattice_planning_markers 0.1.0
lattice_planning_msgs 0.1.0
model_predictive_control 0.0.0
mpc_controller 0.0.0
osqp_eigen_vendor 0.0.0
trajectory_planner 1.0.0
wato_trajectory_msgs 0.0.0
infrastructure_bringup 0.0.0
tf_static_relay 0.0.0
vision_msgs_markers 0.0.0
wato_lifecycle_manager 0.1.0
ackermann_mux 0.0.0
camera_calib 0.0.0
lidar_imu_calib 0.0.0
lidar_lidar_calib 0.0.0
can_state_estimator 0.0.0
dummy_ackermann 0.0.0
eve_description 0.0.0
interfacing_bringup 0.0.0
joystick_interfacing 0.0.0
lidar_aggregator 0.0.0
oscc_interfacing 0.0.0
oscc_mux 0.0.0
pid_control 0.0.0
pid_msgs 0.0.0
roscco_msg 0.0.0
sensor_interfacing 0.0.0
topic_healthchecker 0.0.0
attribute_assigner 0.1.0
depth_estimation 0.0.0
feature_extraction 0.0.0
patchworkpp 0.1.0
patchworkpp_vendor 0.0.0
perception_bringup 0.0.0
perception_utils 0.0.1
spatial_association 0.1.0
bytetrack_cpp_vendor 0.0.0
track_viz_2d 0.0.0
tracking 0.0.0
traffic_light_detection 0.0.0
carla_bringup 1.0.0
carla_common 0.1.0
carla_control 1.0.0
carla_lifecycle 1.0.0
carla_localization 1.0.0
carla_msgs 1.0.0
carla_perception 1.0.0
carla_pygame 1.0.0
carla_ros_bridge 1.0.0
carla_sample_description 1.0.0
carla_scenarios 1.0.0
carla_teleop 1.0.0
simulation_bringup 0.0.0
wato_test 0.1.0
behaviortree_ros2_vendor 0.0.0
behaviour 0.0.0
behaviour_markers 0.1.0
behaviour_msgs 0.1.0
costmap 0.1.0
costmap_markers 0.1.0
costmap_msgs 0.1.0
eidos 0.1.0
eidos_msgs 0.1.0
eidos_tools 0.1.0
eidos_transform 0.1.0
lanelet_markers 0.1.0
lanelet_msgs 0.1.0
lidar_localization 0.0.0
prediction 0.0.1
world_model 0.1.0
world_model_markers 0.1.0
world_model_msgs 0.1.0
world_modeling_bringup 0.0.0

README

WATonomous Monorepo (for EVE)

Dockerized monorepo for the WATonomous autonomous vehicle project (dubbed EVE).

Prerequisite Installation

These steps are to setup the monorepo to work on your own PC. We utilize docker to enable ease of reproducibility and deployability.

Why docker? It’s so that you don’t need to download any coding libraries on your bare metal pc, saving headache :3

  1. Our monorepo infrastructure supports Linux Ubuntu >= 22.04, Windows (WSL/WSL2), and MacOS. Though, aspects of this repo might require specific hardware like NVidia GPUs.
  2. Once inside Linux, Download Docker Engine using the apt repository. If you are using WSL, install docker outside of WSL, it will automatically setup docker within WSL for you.
  3. You’re all set! Information on running the monorepo with our infrastructure is given here

Large File Storage

Some nodes require larger files like model weights and maps. Furthermore, we might want to test our codebase on bag recordings which are even larger. These files are stored in our Google Drive (Only accessible by WATonomous members):

  • Bag Recordings (place inside a wato_monorepo/bags/ directory for full functionality)
  • Maps (place inside a wato_monorepo/maps/ directory for full functionality)
    • REQUIRED by world_modeling (map elements for localization on an existing map, .osm file for HD map) (not required when running simulation)
  • Weights (place inside a wato_monorepo/weights/ directory for full funtionality)
    • REQUIRED by perception (model weights for inference)

Available Modules

Infrastructure Starts the foxglove bridge and data streamer for rosbags.

Interfacing Launches packages directly connecting to hardware. This includes the sensors of the car and the car itself. see docs

Perception Launches packages for perception. see docs

World Modeling Launches packages for world modeling. see docs

Action Launches packages for action. see docs

Simulation Launches packages CARLA simulator. see docs

System Architecture

Contribute

Information on contributing to the monorepo is given in DEVELOPING.md

CONTRIBUTING

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

wato_monorepo repository

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

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 (-)

Packages

Name Version
ackermann_pure_pursuit 0.1.0
action_bringup 0.0.0
freeroam_planner 0.1.0
global_planning 0.0.0
lattice_planning 0.0.0
lattice_planning_markers 0.1.0
lattice_planning_msgs 0.1.0
model_predictive_control 0.0.0
mpc_controller 0.0.0
osqp_eigen_vendor 0.0.0
trajectory_planner 1.0.0
wato_trajectory_msgs 0.0.0
infrastructure_bringup 0.0.0
tf_static_relay 0.0.0
vision_msgs_markers 0.0.0
wato_lifecycle_manager 0.1.0
ackermann_mux 0.0.0
camera_calib 0.0.0
lidar_imu_calib 0.0.0
lidar_lidar_calib 0.0.0
can_state_estimator 0.0.0
dummy_ackermann 0.0.0
eve_description 0.0.0
interfacing_bringup 0.0.0
joystick_interfacing 0.0.0
lidar_aggregator 0.0.0
oscc_interfacing 0.0.0
oscc_mux 0.0.0
pid_control 0.0.0
pid_msgs 0.0.0
roscco_msg 0.0.0
sensor_interfacing 0.0.0
topic_healthchecker 0.0.0
attribute_assigner 0.1.0
depth_estimation 0.0.0
feature_extraction 0.0.0
patchworkpp 0.1.0
patchworkpp_vendor 0.0.0
perception_bringup 0.0.0
perception_utils 0.0.1
spatial_association 0.1.0
bytetrack_cpp_vendor 0.0.0
track_viz_2d 0.0.0
tracking 0.0.0
traffic_light_detection 0.0.0
carla_bringup 1.0.0
carla_common 0.1.0
carla_control 1.0.0
carla_lifecycle 1.0.0
carla_localization 1.0.0
carla_msgs 1.0.0
carla_perception 1.0.0
carla_pygame 1.0.0
carla_ros_bridge 1.0.0
carla_sample_description 1.0.0
carla_scenarios 1.0.0
carla_teleop 1.0.0
simulation_bringup 0.0.0
wato_test 0.1.0
behaviortree_ros2_vendor 0.0.0
behaviour 0.0.0
behaviour_markers 0.1.0
behaviour_msgs 0.1.0
costmap 0.1.0
costmap_markers 0.1.0
costmap_msgs 0.1.0
eidos 0.1.0
eidos_msgs 0.1.0
eidos_tools 0.1.0
eidos_transform 0.1.0
lanelet_markers 0.1.0
lanelet_msgs 0.1.0
lidar_localization 0.0.0
prediction 0.0.1
world_model 0.1.0
world_model_markers 0.1.0
world_model_msgs 0.1.0
world_modeling_bringup 0.0.0

README

WATonomous Monorepo (for EVE)

Dockerized monorepo for the WATonomous autonomous vehicle project (dubbed EVE).

Prerequisite Installation

These steps are to setup the monorepo to work on your own PC. We utilize docker to enable ease of reproducibility and deployability.

Why docker? It’s so that you don’t need to download any coding libraries on your bare metal pc, saving headache :3

  1. Our monorepo infrastructure supports Linux Ubuntu >= 22.04, Windows (WSL/WSL2), and MacOS. Though, aspects of this repo might require specific hardware like NVidia GPUs.
  2. Once inside Linux, Download Docker Engine using the apt repository. If you are using WSL, install docker outside of WSL, it will automatically setup docker within WSL for you.
  3. You’re all set! Information on running the monorepo with our infrastructure is given here

Large File Storage

Some nodes require larger files like model weights and maps. Furthermore, we might want to test our codebase on bag recordings which are even larger. These files are stored in our Google Drive (Only accessible by WATonomous members):

  • Bag Recordings (place inside a wato_monorepo/bags/ directory for full functionality)
  • Maps (place inside a wato_monorepo/maps/ directory for full functionality)
    • REQUIRED by world_modeling (map elements for localization on an existing map, .osm file for HD map) (not required when running simulation)
  • Weights (place inside a wato_monorepo/weights/ directory for full funtionality)
    • REQUIRED by perception (model weights for inference)

Available Modules

Infrastructure Starts the foxglove bridge and data streamer for rosbags.

Interfacing Launches packages directly connecting to hardware. This includes the sensors of the car and the car itself. see docs

Perception Launches packages for perception. see docs

World Modeling Launches packages for world modeling. see docs

Action Launches packages for action. see docs

Simulation Launches packages CARLA simulator. see docs

System Architecture

Contribute

Information on contributing to the monorepo is given in DEVELOPING.md

CONTRIBUTING

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

wato_monorepo repository

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

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 (-)

Packages

Name Version
ackermann_pure_pursuit 0.1.0
action_bringup 0.0.0
freeroam_planner 0.1.0
global_planning 0.0.0
lattice_planning 0.0.0
lattice_planning_markers 0.1.0
lattice_planning_msgs 0.1.0
model_predictive_control 0.0.0
mpc_controller 0.0.0
osqp_eigen_vendor 0.0.0
trajectory_planner 1.0.0
wato_trajectory_msgs 0.0.0
infrastructure_bringup 0.0.0
tf_static_relay 0.0.0
vision_msgs_markers 0.0.0
wato_lifecycle_manager 0.1.0
ackermann_mux 0.0.0
camera_calib 0.0.0
lidar_imu_calib 0.0.0
lidar_lidar_calib 0.0.0
can_state_estimator 0.0.0
dummy_ackermann 0.0.0
eve_description 0.0.0
interfacing_bringup 0.0.0
joystick_interfacing 0.0.0
lidar_aggregator 0.0.0
oscc_interfacing 0.0.0
oscc_mux 0.0.0
pid_control 0.0.0
pid_msgs 0.0.0
roscco_msg 0.0.0
sensor_interfacing 0.0.0
topic_healthchecker 0.0.0
attribute_assigner 0.1.0
depth_estimation 0.0.0
feature_extraction 0.0.0
patchworkpp 0.1.0
patchworkpp_vendor 0.0.0
perception_bringup 0.0.0
perception_utils 0.0.1
spatial_association 0.1.0
bytetrack_cpp_vendor 0.0.0
track_viz_2d 0.0.0
tracking 0.0.0
traffic_light_detection 0.0.0
carla_bringup 1.0.0
carla_common 0.1.0
carla_control 1.0.0
carla_lifecycle 1.0.0
carla_localization 1.0.0
carla_msgs 1.0.0
carla_perception 1.0.0
carla_pygame 1.0.0
carla_ros_bridge 1.0.0
carla_sample_description 1.0.0
carla_scenarios 1.0.0
carla_teleop 1.0.0
simulation_bringup 0.0.0
wato_test 0.1.0
behaviortree_ros2_vendor 0.0.0
behaviour 0.0.0
behaviour_markers 0.1.0
behaviour_msgs 0.1.0
costmap 0.1.0
costmap_markers 0.1.0
costmap_msgs 0.1.0
eidos 0.1.0
eidos_msgs 0.1.0
eidos_tools 0.1.0
eidos_transform 0.1.0
lanelet_markers 0.1.0
lanelet_msgs 0.1.0
lidar_localization 0.0.0
prediction 0.0.1
world_model 0.1.0
world_model_markers 0.1.0
world_model_msgs 0.1.0
world_modeling_bringup 0.0.0

README

WATonomous Monorepo (for EVE)

Dockerized monorepo for the WATonomous autonomous vehicle project (dubbed EVE).

Prerequisite Installation

These steps are to setup the monorepo to work on your own PC. We utilize docker to enable ease of reproducibility and deployability.

Why docker? It’s so that you don’t need to download any coding libraries on your bare metal pc, saving headache :3

  1. Our monorepo infrastructure supports Linux Ubuntu >= 22.04, Windows (WSL/WSL2), and MacOS. Though, aspects of this repo might require specific hardware like NVidia GPUs.
  2. Once inside Linux, Download Docker Engine using the apt repository. If you are using WSL, install docker outside of WSL, it will automatically setup docker within WSL for you.
  3. You’re all set! Information on running the monorepo with our infrastructure is given here

Large File Storage

Some nodes require larger files like model weights and maps. Furthermore, we might want to test our codebase on bag recordings which are even larger. These files are stored in our Google Drive (Only accessible by WATonomous members):

  • Bag Recordings (place inside a wato_monorepo/bags/ directory for full functionality)
  • Maps (place inside a wato_monorepo/maps/ directory for full functionality)
    • REQUIRED by world_modeling (map elements for localization on an existing map, .osm file for HD map) (not required when running simulation)
  • Weights (place inside a wato_monorepo/weights/ directory for full funtionality)
    • REQUIRED by perception (model weights for inference)

Available Modules

Infrastructure Starts the foxglove bridge and data streamer for rosbags.

Interfacing Launches packages directly connecting to hardware. This includes the sensors of the car and the car itself. see docs

Perception Launches packages for perception. see docs

World Modeling Launches packages for world modeling. see docs

Action Launches packages for action. see docs

Simulation Launches packages CARLA simulator. see docs

System Architecture

Contribute

Information on contributing to the monorepo is given in DEVELOPING.md

CONTRIBUTING

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

wato_monorepo repository

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

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 (-)

Packages

Name Version
ackermann_pure_pursuit 0.1.0
action_bringup 0.0.0
freeroam_planner 0.1.0
global_planning 0.0.0
lattice_planning 0.0.0
lattice_planning_markers 0.1.0
lattice_planning_msgs 0.1.0
model_predictive_control 0.0.0
mpc_controller 0.0.0
osqp_eigen_vendor 0.0.0
trajectory_planner 1.0.0
wato_trajectory_msgs 0.0.0
infrastructure_bringup 0.0.0
tf_static_relay 0.0.0
vision_msgs_markers 0.0.0
wato_lifecycle_manager 0.1.0
ackermann_mux 0.0.0
camera_calib 0.0.0
lidar_imu_calib 0.0.0
lidar_lidar_calib 0.0.0
can_state_estimator 0.0.0
dummy_ackermann 0.0.0
eve_description 0.0.0
interfacing_bringup 0.0.0
joystick_interfacing 0.0.0
lidar_aggregator 0.0.0
oscc_interfacing 0.0.0
oscc_mux 0.0.0
pid_control 0.0.0
pid_msgs 0.0.0
roscco_msg 0.0.0
sensor_interfacing 0.0.0
topic_healthchecker 0.0.0
attribute_assigner 0.1.0
depth_estimation 0.0.0
feature_extraction 0.0.0
patchworkpp 0.1.0
patchworkpp_vendor 0.0.0
perception_bringup 0.0.0
perception_utils 0.0.1
spatial_association 0.1.0
bytetrack_cpp_vendor 0.0.0
track_viz_2d 0.0.0
tracking 0.0.0
traffic_light_detection 0.0.0
carla_bringup 1.0.0
carla_common 0.1.0
carla_control 1.0.0
carla_lifecycle 1.0.0
carla_localization 1.0.0
carla_msgs 1.0.0
carla_perception 1.0.0
carla_pygame 1.0.0
carla_ros_bridge 1.0.0
carla_sample_description 1.0.0
carla_scenarios 1.0.0
carla_teleop 1.0.0
simulation_bringup 0.0.0
wato_test 0.1.0
behaviortree_ros2_vendor 0.0.0
behaviour 0.0.0
behaviour_markers 0.1.0
behaviour_msgs 0.1.0
costmap 0.1.0
costmap_markers 0.1.0
costmap_msgs 0.1.0
eidos 0.1.0
eidos_msgs 0.1.0
eidos_tools 0.1.0
eidos_transform 0.1.0
lanelet_markers 0.1.0
lanelet_msgs 0.1.0
lidar_localization 0.0.0
prediction 0.0.1
world_model 0.1.0
world_model_markers 0.1.0
world_model_msgs 0.1.0
world_modeling_bringup 0.0.0

README

WATonomous Monorepo (for EVE)

Dockerized monorepo for the WATonomous autonomous vehicle project (dubbed EVE).

Prerequisite Installation

These steps are to setup the monorepo to work on your own PC. We utilize docker to enable ease of reproducibility and deployability.

Why docker? It’s so that you don’t need to download any coding libraries on your bare metal pc, saving headache :3

  1. Our monorepo infrastructure supports Linux Ubuntu >= 22.04, Windows (WSL/WSL2), and MacOS. Though, aspects of this repo might require specific hardware like NVidia GPUs.
  2. Once inside Linux, Download Docker Engine using the apt repository. If you are using WSL, install docker outside of WSL, it will automatically setup docker within WSL for you.
  3. You’re all set! Information on running the monorepo with our infrastructure is given here

Large File Storage

Some nodes require larger files like model weights and maps. Furthermore, we might want to test our codebase on bag recordings which are even larger. These files are stored in our Google Drive (Only accessible by WATonomous members):

  • Bag Recordings (place inside a wato_monorepo/bags/ directory for full functionality)
  • Maps (place inside a wato_monorepo/maps/ directory for full functionality)
    • REQUIRED by world_modeling (map elements for localization on an existing map, .osm file for HD map) (not required when running simulation)
  • Weights (place inside a wato_monorepo/weights/ directory for full funtionality)
    • REQUIRED by perception (model weights for inference)

Available Modules

Infrastructure Starts the foxglove bridge and data streamer for rosbags.

Interfacing Launches packages directly connecting to hardware. This includes the sensors of the car and the car itself. see docs

Perception Launches packages for perception. see docs

World Modeling Launches packages for world modeling. see docs

Action Launches packages for action. see docs

Simulation Launches packages CARLA simulator. see docs

System Architecture

Contribute

Information on contributing to the monorepo is given in DEVELOPING.md

CONTRIBUTING

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

wato_monorepo repository

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

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 (-)

Packages

Name Version
ackermann_pure_pursuit 0.1.0
action_bringup 0.0.0
freeroam_planner 0.1.0
global_planning 0.0.0
lattice_planning 0.0.0
lattice_planning_markers 0.1.0
lattice_planning_msgs 0.1.0
model_predictive_control 0.0.0
mpc_controller 0.0.0
osqp_eigen_vendor 0.0.0
trajectory_planner 1.0.0
wato_trajectory_msgs 0.0.0
infrastructure_bringup 0.0.0
tf_static_relay 0.0.0
vision_msgs_markers 0.0.0
wato_lifecycle_manager 0.1.0
ackermann_mux 0.0.0
camera_calib 0.0.0
lidar_imu_calib 0.0.0
lidar_lidar_calib 0.0.0
can_state_estimator 0.0.0
dummy_ackermann 0.0.0
eve_description 0.0.0
interfacing_bringup 0.0.0
joystick_interfacing 0.0.0
lidar_aggregator 0.0.0
oscc_interfacing 0.0.0
oscc_mux 0.0.0
pid_control 0.0.0
pid_msgs 0.0.0
roscco_msg 0.0.0
sensor_interfacing 0.0.0
topic_healthchecker 0.0.0
attribute_assigner 0.1.0
depth_estimation 0.0.0
feature_extraction 0.0.0
patchworkpp 0.1.0
patchworkpp_vendor 0.0.0
perception_bringup 0.0.0
perception_utils 0.0.1
spatial_association 0.1.0
bytetrack_cpp_vendor 0.0.0
track_viz_2d 0.0.0
tracking 0.0.0
traffic_light_detection 0.0.0
carla_bringup 1.0.0
carla_common 0.1.0
carla_control 1.0.0
carla_lifecycle 1.0.0
carla_localization 1.0.0
carla_msgs 1.0.0
carla_perception 1.0.0
carla_pygame 1.0.0
carla_ros_bridge 1.0.0
carla_sample_description 1.0.0
carla_scenarios 1.0.0
carla_teleop 1.0.0
simulation_bringup 0.0.0
wato_test 0.1.0
behaviortree_ros2_vendor 0.0.0
behaviour 0.0.0
behaviour_markers 0.1.0
behaviour_msgs 0.1.0
costmap 0.1.0
costmap_markers 0.1.0
costmap_msgs 0.1.0
eidos 0.1.0
eidos_msgs 0.1.0
eidos_tools 0.1.0
eidos_transform 0.1.0
lanelet_markers 0.1.0
lanelet_msgs 0.1.0
lidar_localization 0.0.0
prediction 0.0.1
world_model 0.1.0
world_model_markers 0.1.0
world_model_msgs 0.1.0
world_modeling_bringup 0.0.0

README

WATonomous Monorepo (for EVE)

Dockerized monorepo for the WATonomous autonomous vehicle project (dubbed EVE).

Prerequisite Installation

These steps are to setup the monorepo to work on your own PC. We utilize docker to enable ease of reproducibility and deployability.

Why docker? It’s so that you don’t need to download any coding libraries on your bare metal pc, saving headache :3

  1. Our monorepo infrastructure supports Linux Ubuntu >= 22.04, Windows (WSL/WSL2), and MacOS. Though, aspects of this repo might require specific hardware like NVidia GPUs.
  2. Once inside Linux, Download Docker Engine using the apt repository. If you are using WSL, install docker outside of WSL, it will automatically setup docker within WSL for you.
  3. You’re all set! Information on running the monorepo with our infrastructure is given here

Large File Storage

Some nodes require larger files like model weights and maps. Furthermore, we might want to test our codebase on bag recordings which are even larger. These files are stored in our Google Drive (Only accessible by WATonomous members):

  • Bag Recordings (place inside a wato_monorepo/bags/ directory for full functionality)
  • Maps (place inside a wato_monorepo/maps/ directory for full functionality)
    • REQUIRED by world_modeling (map elements for localization on an existing map, .osm file for HD map) (not required when running simulation)
  • Weights (place inside a wato_monorepo/weights/ directory for full funtionality)
    • REQUIRED by perception (model weights for inference)

Available Modules

Infrastructure Starts the foxglove bridge and data streamer for rosbags.

Interfacing Launches packages directly connecting to hardware. This includes the sensors of the car and the car itself. see docs

Perception Launches packages for perception. see docs

World Modeling Launches packages for world modeling. see docs

Action Launches packages for action. see docs

Simulation Launches packages CARLA simulator. see docs

System Architecture

Contribute

Information on contributing to the monorepo is given in DEVELOPING.md

CONTRIBUTING

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

wato_monorepo repository

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

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 (-)

Packages

Name Version
ackermann_pure_pursuit 0.1.0
action_bringup 0.0.0
freeroam_planner 0.1.0
global_planning 0.0.0
lattice_planning 0.0.0
lattice_planning_markers 0.1.0
lattice_planning_msgs 0.1.0
model_predictive_control 0.0.0
mpc_controller 0.0.0
osqp_eigen_vendor 0.0.0
trajectory_planner 1.0.0
wato_trajectory_msgs 0.0.0
infrastructure_bringup 0.0.0
tf_static_relay 0.0.0
vision_msgs_markers 0.0.0
wato_lifecycle_manager 0.1.0
ackermann_mux 0.0.0
camera_calib 0.0.0
lidar_imu_calib 0.0.0
lidar_lidar_calib 0.0.0
can_state_estimator 0.0.0
dummy_ackermann 0.0.0
eve_description 0.0.0
interfacing_bringup 0.0.0
joystick_interfacing 0.0.0
lidar_aggregator 0.0.0
oscc_interfacing 0.0.0
oscc_mux 0.0.0
pid_control 0.0.0
pid_msgs 0.0.0
roscco_msg 0.0.0
sensor_interfacing 0.0.0
topic_healthchecker 0.0.0
attribute_assigner 0.1.0
depth_estimation 0.0.0
feature_extraction 0.0.0
patchworkpp 0.1.0
patchworkpp_vendor 0.0.0
perception_bringup 0.0.0
perception_utils 0.0.1
spatial_association 0.1.0
bytetrack_cpp_vendor 0.0.0
track_viz_2d 0.0.0
tracking 0.0.0
traffic_light_detection 0.0.0
carla_bringup 1.0.0
carla_common 0.1.0
carla_control 1.0.0
carla_lifecycle 1.0.0
carla_localization 1.0.0
carla_msgs 1.0.0
carla_perception 1.0.0
carla_pygame 1.0.0
carla_ros_bridge 1.0.0
carla_sample_description 1.0.0
carla_scenarios 1.0.0
carla_teleop 1.0.0
simulation_bringup 0.0.0
wato_test 0.1.0
behaviortree_ros2_vendor 0.0.0
behaviour 0.0.0
behaviour_markers 0.1.0
behaviour_msgs 0.1.0
costmap 0.1.0
costmap_markers 0.1.0
costmap_msgs 0.1.0
eidos 0.1.0
eidos_msgs 0.1.0
eidos_tools 0.1.0
eidos_transform 0.1.0
lanelet_markers 0.1.0
lanelet_msgs 0.1.0
lidar_localization 0.0.0
prediction 0.0.1
world_model 0.1.0
world_model_markers 0.1.0
world_model_msgs 0.1.0
world_modeling_bringup 0.0.0

README

WATonomous Monorepo (for EVE)

Dockerized monorepo for the WATonomous autonomous vehicle project (dubbed EVE).

Prerequisite Installation

These steps are to setup the monorepo to work on your own PC. We utilize docker to enable ease of reproducibility and deployability.

Why docker? It’s so that you don’t need to download any coding libraries on your bare metal pc, saving headache :3

  1. Our monorepo infrastructure supports Linux Ubuntu >= 22.04, Windows (WSL/WSL2), and MacOS. Though, aspects of this repo might require specific hardware like NVidia GPUs.
  2. Once inside Linux, Download Docker Engine using the apt repository. If you are using WSL, install docker outside of WSL, it will automatically setup docker within WSL for you.
  3. You’re all set! Information on running the monorepo with our infrastructure is given here

Large File Storage

Some nodes require larger files like model weights and maps. Furthermore, we might want to test our codebase on bag recordings which are even larger. These files are stored in our Google Drive (Only accessible by WATonomous members):

  • Bag Recordings (place inside a wato_monorepo/bags/ directory for full functionality)
  • Maps (place inside a wato_monorepo/maps/ directory for full functionality)
    • REQUIRED by world_modeling (map elements for localization on an existing map, .osm file for HD map) (not required when running simulation)
  • Weights (place inside a wato_monorepo/weights/ directory for full funtionality)
    • REQUIRED by perception (model weights for inference)

Available Modules

Infrastructure Starts the foxglove bridge and data streamer for rosbags.

Interfacing Launches packages directly connecting to hardware. This includes the sensors of the car and the car itself. see docs

Perception Launches packages for perception. see docs

World Modeling Launches packages for world modeling. see docs

Action Launches packages for action. see docs

Simulation Launches packages CARLA simulator. see docs

System Architecture

Contribute

Information on contributing to the monorepo is given in DEVELOPING.md

CONTRIBUTING

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

wato_monorepo repository

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

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 (-)

Packages

Name Version
ackermann_pure_pursuit 0.1.0
action_bringup 0.0.0
freeroam_planner 0.1.0
global_planning 0.0.0
lattice_planning 0.0.0
lattice_planning_markers 0.1.0
lattice_planning_msgs 0.1.0
model_predictive_control 0.0.0
mpc_controller 0.0.0
osqp_eigen_vendor 0.0.0
trajectory_planner 1.0.0
wato_trajectory_msgs 0.0.0
infrastructure_bringup 0.0.0
tf_static_relay 0.0.0
vision_msgs_markers 0.0.0
wato_lifecycle_manager 0.1.0
ackermann_mux 0.0.0
camera_calib 0.0.0
lidar_imu_calib 0.0.0
lidar_lidar_calib 0.0.0
can_state_estimator 0.0.0
dummy_ackermann 0.0.0
eve_description 0.0.0
interfacing_bringup 0.0.0
joystick_interfacing 0.0.0
lidar_aggregator 0.0.0
oscc_interfacing 0.0.0
oscc_mux 0.0.0
pid_control 0.0.0
pid_msgs 0.0.0
roscco_msg 0.0.0
sensor_interfacing 0.0.0
topic_healthchecker 0.0.0
attribute_assigner 0.1.0
depth_estimation 0.0.0
feature_extraction 0.0.0
patchworkpp 0.1.0
patchworkpp_vendor 0.0.0
perception_bringup 0.0.0
perception_utils 0.0.1
spatial_association 0.1.0
bytetrack_cpp_vendor 0.0.0
track_viz_2d 0.0.0
tracking 0.0.0
traffic_light_detection 0.0.0
carla_bringup 1.0.0
carla_common 0.1.0
carla_control 1.0.0
carla_lifecycle 1.0.0
carla_localization 1.0.0
carla_msgs 1.0.0
carla_perception 1.0.0
carla_pygame 1.0.0
carla_ros_bridge 1.0.0
carla_sample_description 1.0.0
carla_scenarios 1.0.0
carla_teleop 1.0.0
simulation_bringup 0.0.0
wato_test 0.1.0
behaviortree_ros2_vendor 0.0.0
behaviour 0.0.0
behaviour_markers 0.1.0
behaviour_msgs 0.1.0
costmap 0.1.0
costmap_markers 0.1.0
costmap_msgs 0.1.0
eidos 0.1.0
eidos_msgs 0.1.0
eidos_tools 0.1.0
eidos_transform 0.1.0
lanelet_markers 0.1.0
lanelet_msgs 0.1.0
lidar_localization 0.0.0
prediction 0.0.1
world_model 0.1.0
world_model_markers 0.1.0
world_model_msgs 0.1.0
world_modeling_bringup 0.0.0

README

WATonomous Monorepo (for EVE)

Dockerized monorepo for the WATonomous autonomous vehicle project (dubbed EVE).

Prerequisite Installation

These steps are to setup the monorepo to work on your own PC. We utilize docker to enable ease of reproducibility and deployability.

Why docker? It’s so that you don’t need to download any coding libraries on your bare metal pc, saving headache :3

  1. Our monorepo infrastructure supports Linux Ubuntu >= 22.04, Windows (WSL/WSL2), and MacOS. Though, aspects of this repo might require specific hardware like NVidia GPUs.
  2. Once inside Linux, Download Docker Engine using the apt repository. If you are using WSL, install docker outside of WSL, it will automatically setup docker within WSL for you.
  3. You’re all set! Information on running the monorepo with our infrastructure is given here

Large File Storage

Some nodes require larger files like model weights and maps. Furthermore, we might want to test our codebase on bag recordings which are even larger. These files are stored in our Google Drive (Only accessible by WATonomous members):

  • Bag Recordings (place inside a wato_monorepo/bags/ directory for full functionality)
  • Maps (place inside a wato_monorepo/maps/ directory for full functionality)
    • REQUIRED by world_modeling (map elements for localization on an existing map, .osm file for HD map) (not required when running simulation)
  • Weights (place inside a wato_monorepo/weights/ directory for full funtionality)
    • REQUIRED by perception (model weights for inference)

Available Modules

Infrastructure Starts the foxglove bridge and data streamer for rosbags.

Interfacing Launches packages directly connecting to hardware. This includes the sensors of the car and the car itself. see docs

Perception Launches packages for perception. see docs

World Modeling Launches packages for world modeling. see docs

Action Launches packages for action. see docs

Simulation Launches packages CARLA simulator. see docs

System Architecture

Contribute

Information on contributing to the monorepo is given in DEVELOPING.md

CONTRIBUTING

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

wato_monorepo repository

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

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 (-)

Packages

Name Version
ackermann_pure_pursuit 0.1.0
action_bringup 0.0.0
freeroam_planner 0.1.0
global_planning 0.0.0
lattice_planning 0.0.0
lattice_planning_markers 0.1.0
lattice_planning_msgs 0.1.0
model_predictive_control 0.0.0
mpc_controller 0.0.0
osqp_eigen_vendor 0.0.0
trajectory_planner 1.0.0
wato_trajectory_msgs 0.0.0
infrastructure_bringup 0.0.0
tf_static_relay 0.0.0
vision_msgs_markers 0.0.0
wato_lifecycle_manager 0.1.0
ackermann_mux 0.0.0
camera_calib 0.0.0
lidar_imu_calib 0.0.0
lidar_lidar_calib 0.0.0
can_state_estimator 0.0.0
dummy_ackermann 0.0.0
eve_description 0.0.0
interfacing_bringup 0.0.0
joystick_interfacing 0.0.0
lidar_aggregator 0.0.0
oscc_interfacing 0.0.0
oscc_mux 0.0.0
pid_control 0.0.0
pid_msgs 0.0.0
roscco_msg 0.0.0
sensor_interfacing 0.0.0
topic_healthchecker 0.0.0
attribute_assigner 0.1.0
depth_estimation 0.0.0
feature_extraction 0.0.0
patchworkpp 0.1.0
patchworkpp_vendor 0.0.0
perception_bringup 0.0.0
perception_utils 0.0.1
spatial_association 0.1.0
bytetrack_cpp_vendor 0.0.0
track_viz_2d 0.0.0
tracking 0.0.0
traffic_light_detection 0.0.0
carla_bringup 1.0.0
carla_common 0.1.0
carla_control 1.0.0
carla_lifecycle 1.0.0
carla_localization 1.0.0
carla_msgs 1.0.0
carla_perception 1.0.0
carla_pygame 1.0.0
carla_ros_bridge 1.0.0
carla_sample_description 1.0.0
carla_scenarios 1.0.0
carla_teleop 1.0.0
simulation_bringup 0.0.0
wato_test 0.1.0
behaviortree_ros2_vendor 0.0.0
behaviour 0.0.0
behaviour_markers 0.1.0
behaviour_msgs 0.1.0
costmap 0.1.0
costmap_markers 0.1.0
costmap_msgs 0.1.0
eidos 0.1.0
eidos_msgs 0.1.0
eidos_tools 0.1.0
eidos_transform 0.1.0
lanelet_markers 0.1.0
lanelet_msgs 0.1.0
lidar_localization 0.0.0
prediction 0.0.1
world_model 0.1.0
world_model_markers 0.1.0
world_model_msgs 0.1.0
world_modeling_bringup 0.0.0

README

WATonomous Monorepo (for EVE)

Dockerized monorepo for the WATonomous autonomous vehicle project (dubbed EVE).

Prerequisite Installation

These steps are to setup the monorepo to work on your own PC. We utilize docker to enable ease of reproducibility and deployability.

Why docker? It’s so that you don’t need to download any coding libraries on your bare metal pc, saving headache :3

  1. Our monorepo infrastructure supports Linux Ubuntu >= 22.04, Windows (WSL/WSL2), and MacOS. Though, aspects of this repo might require specific hardware like NVidia GPUs.
  2. Once inside Linux, Download Docker Engine using the apt repository. If you are using WSL, install docker outside of WSL, it will automatically setup docker within WSL for you.
  3. You’re all set! Information on running the monorepo with our infrastructure is given here

Large File Storage

Some nodes require larger files like model weights and maps. Furthermore, we might want to test our codebase on bag recordings which are even larger. These files are stored in our Google Drive (Only accessible by WATonomous members):

  • Bag Recordings (place inside a wato_monorepo/bags/ directory for full functionality)
  • Maps (place inside a wato_monorepo/maps/ directory for full functionality)
    • REQUIRED by world_modeling (map elements for localization on an existing map, .osm file for HD map) (not required when running simulation)
  • Weights (place inside a wato_monorepo/weights/ directory for full funtionality)
    • REQUIRED by perception (model weights for inference)

Available Modules

Infrastructure Starts the foxglove bridge and data streamer for rosbags.

Interfacing Launches packages directly connecting to hardware. This includes the sensors of the car and the car itself. see docs

Perception Launches packages for perception. see docs

World Modeling Launches packages for world modeling. see docs

Action Launches packages for action. see docs

Simulation Launches packages CARLA simulator. see docs

System Architecture

Contribute

Information on contributing to the monorepo is given in DEVELOPING.md

CONTRIBUTING

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

wato_monorepo repository

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

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 (-)

Packages

Name Version
ackermann_pure_pursuit 0.1.0
action_bringup 0.0.0
freeroam_planner 0.1.0
global_planning 0.0.0
lattice_planning 0.0.0
lattice_planning_markers 0.1.0
lattice_planning_msgs 0.1.0
model_predictive_control 0.0.0
mpc_controller 0.0.0
osqp_eigen_vendor 0.0.0
trajectory_planner 1.0.0
wato_trajectory_msgs 0.0.0
infrastructure_bringup 0.0.0
tf_static_relay 0.0.0
vision_msgs_markers 0.0.0
wato_lifecycle_manager 0.1.0
ackermann_mux 0.0.0
camera_calib 0.0.0
lidar_imu_calib 0.0.0
lidar_lidar_calib 0.0.0
can_state_estimator 0.0.0
dummy_ackermann 0.0.0
eve_description 0.0.0
interfacing_bringup 0.0.0
joystick_interfacing 0.0.0
lidar_aggregator 0.0.0
oscc_interfacing 0.0.0
oscc_mux 0.0.0
pid_control 0.0.0
pid_msgs 0.0.0
roscco_msg 0.0.0
sensor_interfacing 0.0.0
topic_healthchecker 0.0.0
attribute_assigner 0.1.0
depth_estimation 0.0.0
feature_extraction 0.0.0
patchworkpp 0.1.0
patchworkpp_vendor 0.0.0
perception_bringup 0.0.0
perception_utils 0.0.1
spatial_association 0.1.0
bytetrack_cpp_vendor 0.0.0
track_viz_2d 0.0.0
tracking 0.0.0
traffic_light_detection 0.0.0
carla_bringup 1.0.0
carla_common 0.1.0
carla_control 1.0.0
carla_lifecycle 1.0.0
carla_localization 1.0.0
carla_msgs 1.0.0
carla_perception 1.0.0
carla_pygame 1.0.0
carla_ros_bridge 1.0.0
carla_sample_description 1.0.0
carla_scenarios 1.0.0
carla_teleop 1.0.0
simulation_bringup 0.0.0
wato_test 0.1.0
behaviortree_ros2_vendor 0.0.0
behaviour 0.0.0
behaviour_markers 0.1.0
behaviour_msgs 0.1.0
costmap 0.1.0
costmap_markers 0.1.0
costmap_msgs 0.1.0
eidos 0.1.0
eidos_msgs 0.1.0
eidos_tools 0.1.0
eidos_transform 0.1.0
lanelet_markers 0.1.0
lanelet_msgs 0.1.0
lidar_localization 0.0.0
prediction 0.0.1
world_model 0.1.0
world_model_markers 0.1.0
world_model_msgs 0.1.0
world_modeling_bringup 0.0.0

README

WATonomous Monorepo (for EVE)

Dockerized monorepo for the WATonomous autonomous vehicle project (dubbed EVE).

Prerequisite Installation

These steps are to setup the monorepo to work on your own PC. We utilize docker to enable ease of reproducibility and deployability.

Why docker? It’s so that you don’t need to download any coding libraries on your bare metal pc, saving headache :3

  1. Our monorepo infrastructure supports Linux Ubuntu >= 22.04, Windows (WSL/WSL2), and MacOS. Though, aspects of this repo might require specific hardware like NVidia GPUs.
  2. Once inside Linux, Download Docker Engine using the apt repository. If you are using WSL, install docker outside of WSL, it will automatically setup docker within WSL for you.
  3. You’re all set! Information on running the monorepo with our infrastructure is given here

Large File Storage

Some nodes require larger files like model weights and maps. Furthermore, we might want to test our codebase on bag recordings which are even larger. These files are stored in our Google Drive (Only accessible by WATonomous members):

  • Bag Recordings (place inside a wato_monorepo/bags/ directory for full functionality)
  • Maps (place inside a wato_monorepo/maps/ directory for full functionality)
    • REQUIRED by world_modeling (map elements for localization on an existing map, .osm file for HD map) (not required when running simulation)
  • Weights (place inside a wato_monorepo/weights/ directory for full funtionality)
    • REQUIRED by perception (model weights for inference)

Available Modules

Infrastructure Starts the foxglove bridge and data streamer for rosbags.

Interfacing Launches packages directly connecting to hardware. This includes the sensors of the car and the car itself. see docs

Perception Launches packages for perception. see docs

World Modeling Launches packages for world modeling. see docs

Action Launches packages for action. see docs

Simulation Launches packages CARLA simulator. see docs

System Architecture

Contribute

Information on contributing to the monorepo is given in DEVELOPING.md

CONTRIBUTING

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

wato_monorepo repository

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

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 (-)

Packages

Name Version
ackermann_pure_pursuit 0.1.0
action_bringup 0.0.0
freeroam_planner 0.1.0
global_planning 0.0.0
lattice_planning 0.0.0
lattice_planning_markers 0.1.0
lattice_planning_msgs 0.1.0
model_predictive_control 0.0.0
mpc_controller 0.0.0
osqp_eigen_vendor 0.0.0
trajectory_planner 1.0.0
wato_trajectory_msgs 0.0.0
infrastructure_bringup 0.0.0
tf_static_relay 0.0.0
vision_msgs_markers 0.0.0
wato_lifecycle_manager 0.1.0
ackermann_mux 0.0.0
camera_calib 0.0.0
lidar_imu_calib 0.0.0
lidar_lidar_calib 0.0.0
can_state_estimator 0.0.0
dummy_ackermann 0.0.0
eve_description 0.0.0
interfacing_bringup 0.0.0
joystick_interfacing 0.0.0
lidar_aggregator 0.0.0
oscc_interfacing 0.0.0
oscc_mux 0.0.0
pid_control 0.0.0
pid_msgs 0.0.0
roscco_msg 0.0.0
sensor_interfacing 0.0.0
topic_healthchecker 0.0.0
attribute_assigner 0.1.0
depth_estimation 0.0.0
feature_extraction 0.0.0
patchworkpp 0.1.0
patchworkpp_vendor 0.0.0
perception_bringup 0.0.0
perception_utils 0.0.1
spatial_association 0.1.0
bytetrack_cpp_vendor 0.0.0
track_viz_2d 0.0.0
tracking 0.0.0
traffic_light_detection 0.0.0
carla_bringup 1.0.0
carla_common 0.1.0
carla_control 1.0.0
carla_lifecycle 1.0.0
carla_localization 1.0.0
carla_msgs 1.0.0
carla_perception 1.0.0
carla_pygame 1.0.0
carla_ros_bridge 1.0.0
carla_sample_description 1.0.0
carla_scenarios 1.0.0
carla_teleop 1.0.0
simulation_bringup 0.0.0
wato_test 0.1.0
behaviortree_ros2_vendor 0.0.0
behaviour 0.0.0
behaviour_markers 0.1.0
behaviour_msgs 0.1.0
costmap 0.1.0
costmap_markers 0.1.0
costmap_msgs 0.1.0
eidos 0.1.0
eidos_msgs 0.1.0
eidos_tools 0.1.0
eidos_transform 0.1.0
lanelet_markers 0.1.0
lanelet_msgs 0.1.0
lidar_localization 0.0.0
prediction 0.0.1
world_model 0.1.0
world_model_markers 0.1.0
world_model_msgs 0.1.0
world_modeling_bringup 0.0.0

README

WATonomous Monorepo (for EVE)

Dockerized monorepo for the WATonomous autonomous vehicle project (dubbed EVE).

Prerequisite Installation

These steps are to setup the monorepo to work on your own PC. We utilize docker to enable ease of reproducibility and deployability.

Why docker? It’s so that you don’t need to download any coding libraries on your bare metal pc, saving headache :3

  1. Our monorepo infrastructure supports Linux Ubuntu >= 22.04, Windows (WSL/WSL2), and MacOS. Though, aspects of this repo might require specific hardware like NVidia GPUs.
  2. Once inside Linux, Download Docker Engine using the apt repository. If you are using WSL, install docker outside of WSL, it will automatically setup docker within WSL for you.
  3. You’re all set! Information on running the monorepo with our infrastructure is given here

Large File Storage

Some nodes require larger files like model weights and maps. Furthermore, we might want to test our codebase on bag recordings which are even larger. These files are stored in our Google Drive (Only accessible by WATonomous members):

  • Bag Recordings (place inside a wato_monorepo/bags/ directory for full functionality)
  • Maps (place inside a wato_monorepo/maps/ directory for full functionality)
    • REQUIRED by world_modeling (map elements for localization on an existing map, .osm file for HD map) (not required when running simulation)
  • Weights (place inside a wato_monorepo/weights/ directory for full funtionality)
    • REQUIRED by perception (model weights for inference)

Available Modules

Infrastructure Starts the foxglove bridge and data streamer for rosbags.

Interfacing Launches packages directly connecting to hardware. This includes the sensors of the car and the car itself. see docs

Perception Launches packages for perception. see docs

World Modeling Launches packages for world modeling. see docs

Action Launches packages for action. see docs

Simulation Launches packages CARLA simulator. see docs

System Architecture

Contribute

Information on contributing to the monorepo is given in DEVELOPING.md

CONTRIBUTING

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

wato_monorepo repository

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

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 (-)

Packages

Name Version
ackermann_pure_pursuit 0.1.0
action_bringup 0.0.0
freeroam_planner 0.1.0
global_planning 0.0.0
lattice_planning 0.0.0
lattice_planning_markers 0.1.0
lattice_planning_msgs 0.1.0
model_predictive_control 0.0.0
mpc_controller 0.0.0
osqp_eigen_vendor 0.0.0
trajectory_planner 1.0.0
wato_trajectory_msgs 0.0.0
infrastructure_bringup 0.0.0
tf_static_relay 0.0.0
vision_msgs_markers 0.0.0
wato_lifecycle_manager 0.1.0
ackermann_mux 0.0.0
camera_calib 0.0.0
lidar_imu_calib 0.0.0
lidar_lidar_calib 0.0.0
can_state_estimator 0.0.0
dummy_ackermann 0.0.0
eve_description 0.0.0
interfacing_bringup 0.0.0
joystick_interfacing 0.0.0
lidar_aggregator 0.0.0
oscc_interfacing 0.0.0
oscc_mux 0.0.0
pid_control 0.0.0
pid_msgs 0.0.0
roscco_msg 0.0.0
sensor_interfacing 0.0.0
topic_healthchecker 0.0.0
attribute_assigner 0.1.0
depth_estimation 0.0.0
feature_extraction 0.0.0
patchworkpp 0.1.0
patchworkpp_vendor 0.0.0
perception_bringup 0.0.0
perception_utils 0.0.1
spatial_association 0.1.0
bytetrack_cpp_vendor 0.0.0
track_viz_2d 0.0.0
tracking 0.0.0
traffic_light_detection 0.0.0
carla_bringup 1.0.0
carla_common 0.1.0
carla_control 1.0.0
carla_lifecycle 1.0.0
carla_localization 1.0.0
carla_msgs 1.0.0
carla_perception 1.0.0
carla_pygame 1.0.0
carla_ros_bridge 1.0.0
carla_sample_description 1.0.0
carla_scenarios 1.0.0
carla_teleop 1.0.0
simulation_bringup 0.0.0
wato_test 0.1.0
behaviortree_ros2_vendor 0.0.0
behaviour 0.0.0
behaviour_markers 0.1.0
behaviour_msgs 0.1.0
costmap 0.1.0
costmap_markers 0.1.0
costmap_msgs 0.1.0
eidos 0.1.0
eidos_msgs 0.1.0
eidos_tools 0.1.0
eidos_transform 0.1.0
lanelet_markers 0.1.0
lanelet_msgs 0.1.0
lidar_localization 0.0.0
prediction 0.0.1
world_model 0.1.0
world_model_markers 0.1.0
world_model_msgs 0.1.0
world_modeling_bringup 0.0.0

README

WATonomous Monorepo (for EVE)

Dockerized monorepo for the WATonomous autonomous vehicle project (dubbed EVE).

Prerequisite Installation

These steps are to setup the monorepo to work on your own PC. We utilize docker to enable ease of reproducibility and deployability.

Why docker? It’s so that you don’t need to download any coding libraries on your bare metal pc, saving headache :3

  1. Our monorepo infrastructure supports Linux Ubuntu >= 22.04, Windows (WSL/WSL2), and MacOS. Though, aspects of this repo might require specific hardware like NVidia GPUs.
  2. Once inside Linux, Download Docker Engine using the apt repository. If you are using WSL, install docker outside of WSL, it will automatically setup docker within WSL for you.
  3. You’re all set! Information on running the monorepo with our infrastructure is given here

Large File Storage

Some nodes require larger files like model weights and maps. Furthermore, we might want to test our codebase on bag recordings which are even larger. These files are stored in our Google Drive (Only accessible by WATonomous members):

  • Bag Recordings (place inside a wato_monorepo/bags/ directory for full functionality)
  • Maps (place inside a wato_monorepo/maps/ directory for full functionality)
    • REQUIRED by world_modeling (map elements for localization on an existing map, .osm file for HD map) (not required when running simulation)
  • Weights (place inside a wato_monorepo/weights/ directory for full funtionality)
    • REQUIRED by perception (model weights for inference)

Available Modules

Infrastructure Starts the foxglove bridge and data streamer for rosbags.

Interfacing Launches packages directly connecting to hardware. This includes the sensors of the car and the car itself. see docs

Perception Launches packages for perception. see docs

World Modeling Launches packages for world modeling. see docs

Action Launches packages for action. see docs

Simulation Launches packages CARLA simulator. see docs

System Architecture

Contribute

Information on contributing to the monorepo is given in DEVELOPING.md

CONTRIBUTING

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

wato_monorepo repository

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

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 (-)

Packages

Name Version
ackermann_pure_pursuit 0.1.0
action_bringup 0.0.0
freeroam_planner 0.1.0
global_planning 0.0.0
lattice_planning 0.0.0
lattice_planning_markers 0.1.0
lattice_planning_msgs 0.1.0
model_predictive_control 0.0.0
mpc_controller 0.0.0
osqp_eigen_vendor 0.0.0
trajectory_planner 1.0.0
wato_trajectory_msgs 0.0.0
infrastructure_bringup 0.0.0
tf_static_relay 0.0.0
vision_msgs_markers 0.0.0
wato_lifecycle_manager 0.1.0
ackermann_mux 0.0.0
camera_calib 0.0.0
lidar_imu_calib 0.0.0
lidar_lidar_calib 0.0.0
can_state_estimator 0.0.0
dummy_ackermann 0.0.0
eve_description 0.0.0
interfacing_bringup 0.0.0
joystick_interfacing 0.0.0
lidar_aggregator 0.0.0
oscc_interfacing 0.0.0
oscc_mux 0.0.0
pid_control 0.0.0
pid_msgs 0.0.0
roscco_msg 0.0.0
sensor_interfacing 0.0.0
topic_healthchecker 0.0.0
attribute_assigner 0.1.0
depth_estimation 0.0.0
feature_extraction 0.0.0
patchworkpp 0.1.0
patchworkpp_vendor 0.0.0
perception_bringup 0.0.0
perception_utils 0.0.1
spatial_association 0.1.0
bytetrack_cpp_vendor 0.0.0
track_viz_2d 0.0.0
tracking 0.0.0
traffic_light_detection 0.0.0
carla_bringup 1.0.0
carla_common 0.1.0
carla_control 1.0.0
carla_lifecycle 1.0.0
carla_localization 1.0.0
carla_msgs 1.0.0
carla_perception 1.0.0
carla_pygame 1.0.0
carla_ros_bridge 1.0.0
carla_sample_description 1.0.0
carla_scenarios 1.0.0
carla_teleop 1.0.0
simulation_bringup 0.0.0
wato_test 0.1.0
behaviortree_ros2_vendor 0.0.0
behaviour 0.0.0
behaviour_markers 0.1.0
behaviour_msgs 0.1.0
costmap 0.1.0
costmap_markers 0.1.0
costmap_msgs 0.1.0
eidos 0.1.0
eidos_msgs 0.1.0
eidos_tools 0.1.0
eidos_transform 0.1.0
lanelet_markers 0.1.0
lanelet_msgs 0.1.0
lidar_localization 0.0.0
prediction 0.0.1
world_model 0.1.0
world_model_markers 0.1.0
world_model_msgs 0.1.0
world_modeling_bringup 0.0.0

README

WATonomous Monorepo (for EVE)

Dockerized monorepo for the WATonomous autonomous vehicle project (dubbed EVE).

Prerequisite Installation

These steps are to setup the monorepo to work on your own PC. We utilize docker to enable ease of reproducibility and deployability.

Why docker? It’s so that you don’t need to download any coding libraries on your bare metal pc, saving headache :3

  1. Our monorepo infrastructure supports Linux Ubuntu >= 22.04, Windows (WSL/WSL2), and MacOS. Though, aspects of this repo might require specific hardware like NVidia GPUs.
  2. Once inside Linux, Download Docker Engine using the apt repository. If you are using WSL, install docker outside of WSL, it will automatically setup docker within WSL for you.
  3. You’re all set! Information on running the monorepo with our infrastructure is given here

Large File Storage

Some nodes require larger files like model weights and maps. Furthermore, we might want to test our codebase on bag recordings which are even larger. These files are stored in our Google Drive (Only accessible by WATonomous members):

  • Bag Recordings (place inside a wato_monorepo/bags/ directory for full functionality)
  • Maps (place inside a wato_monorepo/maps/ directory for full functionality)
    • REQUIRED by world_modeling (map elements for localization on an existing map, .osm file for HD map) (not required when running simulation)
  • Weights (place inside a wato_monorepo/weights/ directory for full funtionality)
    • REQUIRED by perception (model weights for inference)

Available Modules

Infrastructure Starts the foxglove bridge and data streamer for rosbags.

Interfacing Launches packages directly connecting to hardware. This includes the sensors of the car and the car itself. see docs

Perception Launches packages for perception. see docs

World Modeling Launches packages for world modeling. see docs

Action Launches packages for action. see docs

Simulation Launches packages CARLA simulator. see docs

System Architecture

Contribute

Information on contributing to the monorepo is given in DEVELOPING.md

CONTRIBUTING

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

wato_monorepo repository

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

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 (-)

Packages

Name Version
ackermann_pure_pursuit 0.1.0
action_bringup 0.0.0
freeroam_planner 0.1.0
global_planning 0.0.0
lattice_planning 0.0.0
lattice_planning_markers 0.1.0
lattice_planning_msgs 0.1.0
model_predictive_control 0.0.0
mpc_controller 0.0.0
osqp_eigen_vendor 0.0.0
trajectory_planner 1.0.0
wato_trajectory_msgs 0.0.0
infrastructure_bringup 0.0.0
tf_static_relay 0.0.0
vision_msgs_markers 0.0.0
wato_lifecycle_manager 0.1.0
ackermann_mux 0.0.0
camera_calib 0.0.0
lidar_imu_calib 0.0.0
lidar_lidar_calib 0.0.0
can_state_estimator 0.0.0
dummy_ackermann 0.0.0
eve_description 0.0.0
interfacing_bringup 0.0.0
joystick_interfacing 0.0.0
lidar_aggregator 0.0.0
oscc_interfacing 0.0.0
oscc_mux 0.0.0
pid_control 0.0.0
pid_msgs 0.0.0
roscco_msg 0.0.0
sensor_interfacing 0.0.0
topic_healthchecker 0.0.0
attribute_assigner 0.1.0
depth_estimation 0.0.0
feature_extraction 0.0.0
patchworkpp 0.1.0
patchworkpp_vendor 0.0.0
perception_bringup 0.0.0
perception_utils 0.0.1
spatial_association 0.1.0
bytetrack_cpp_vendor 0.0.0
track_viz_2d 0.0.0
tracking 0.0.0
traffic_light_detection 0.0.0
carla_bringup 1.0.0
carla_common 0.1.0
carla_control 1.0.0
carla_lifecycle 1.0.0
carla_localization 1.0.0
carla_msgs 1.0.0
carla_perception 1.0.0
carla_pygame 1.0.0
carla_ros_bridge 1.0.0
carla_sample_description 1.0.0
carla_scenarios 1.0.0
carla_teleop 1.0.0
simulation_bringup 0.0.0
wato_test 0.1.0
behaviortree_ros2_vendor 0.0.0
behaviour 0.0.0
behaviour_markers 0.1.0
behaviour_msgs 0.1.0
costmap 0.1.0
costmap_markers 0.1.0
costmap_msgs 0.1.0
eidos 0.1.0
eidos_msgs 0.1.0
eidos_tools 0.1.0
eidos_transform 0.1.0
lanelet_markers 0.1.0
lanelet_msgs 0.1.0
lidar_localization 0.0.0
prediction 0.0.1
world_model 0.1.0
world_model_markers 0.1.0
world_model_msgs 0.1.0
world_modeling_bringup 0.0.0

README

WATonomous Monorepo (for EVE)

Dockerized monorepo for the WATonomous autonomous vehicle project (dubbed EVE).

Prerequisite Installation

These steps are to setup the monorepo to work on your own PC. We utilize docker to enable ease of reproducibility and deployability.

Why docker? It’s so that you don’t need to download any coding libraries on your bare metal pc, saving headache :3

  1. Our monorepo infrastructure supports Linux Ubuntu >= 22.04, Windows (WSL/WSL2), and MacOS. Though, aspects of this repo might require specific hardware like NVidia GPUs.
  2. Once inside Linux, Download Docker Engine using the apt repository. If you are using WSL, install docker outside of WSL, it will automatically setup docker within WSL for you.
  3. You’re all set! Information on running the monorepo with our infrastructure is given here

Large File Storage

Some nodes require larger files like model weights and maps. Furthermore, we might want to test our codebase on bag recordings which are even larger. These files are stored in our Google Drive (Only accessible by WATonomous members):

  • Bag Recordings (place inside a wato_monorepo/bags/ directory for full functionality)
  • Maps (place inside a wato_monorepo/maps/ directory for full functionality)
    • REQUIRED by world_modeling (map elements for localization on an existing map, .osm file for HD map) (not required when running simulation)
  • Weights (place inside a wato_monorepo/weights/ directory for full funtionality)
    • REQUIRED by perception (model weights for inference)

Available Modules

Infrastructure Starts the foxglove bridge and data streamer for rosbags.

Interfacing Launches packages directly connecting to hardware. This includes the sensors of the car and the car itself. see docs

Perception Launches packages for perception. see docs

World Modeling Launches packages for world modeling. see docs

Action Launches packages for action. see docs

Simulation Launches packages CARLA simulator. see docs

System Architecture

Contribute

Information on contributing to the monorepo is given in DEVELOPING.md

CONTRIBUTING

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

wato_monorepo repository

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

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 (-)

Packages

Name Version
ackermann_pure_pursuit 0.1.0
action_bringup 0.0.0
freeroam_planner 0.1.0
global_planning 0.0.0
lattice_planning 0.0.0
lattice_planning_markers 0.1.0
lattice_planning_msgs 0.1.0
model_predictive_control 0.0.0
mpc_controller 0.0.0
osqp_eigen_vendor 0.0.0
trajectory_planner 1.0.0
wato_trajectory_msgs 0.0.0
infrastructure_bringup 0.0.0
tf_static_relay 0.0.0
vision_msgs_markers 0.0.0
wato_lifecycle_manager 0.1.0
ackermann_mux 0.0.0
camera_calib 0.0.0
lidar_imu_calib 0.0.0
lidar_lidar_calib 0.0.0
can_state_estimator 0.0.0
dummy_ackermann 0.0.0
eve_description 0.0.0
interfacing_bringup 0.0.0
joystick_interfacing 0.0.0
lidar_aggregator 0.0.0
oscc_interfacing 0.0.0
oscc_mux 0.0.0
pid_control 0.0.0
pid_msgs 0.0.0
roscco_msg 0.0.0
sensor_interfacing 0.0.0
topic_healthchecker 0.0.0
attribute_assigner 0.1.0
depth_estimation 0.0.0
feature_extraction 0.0.0
patchworkpp 0.1.0
patchworkpp_vendor 0.0.0
perception_bringup 0.0.0
perception_utils 0.0.1
spatial_association 0.1.0
bytetrack_cpp_vendor 0.0.0
track_viz_2d 0.0.0
tracking 0.0.0
traffic_light_detection 0.0.0
carla_bringup 1.0.0
carla_common 0.1.0
carla_control 1.0.0
carla_lifecycle 1.0.0
carla_localization 1.0.0
carla_msgs 1.0.0
carla_perception 1.0.0
carla_pygame 1.0.0
carla_ros_bridge 1.0.0
carla_sample_description 1.0.0
carla_scenarios 1.0.0
carla_teleop 1.0.0
simulation_bringup 0.0.0
wato_test 0.1.0
behaviortree_ros2_vendor 0.0.0
behaviour 0.0.0
behaviour_markers 0.1.0
behaviour_msgs 0.1.0
costmap 0.1.0
costmap_markers 0.1.0
costmap_msgs 0.1.0
eidos 0.1.0
eidos_msgs 0.1.0
eidos_tools 0.1.0
eidos_transform 0.1.0
lanelet_markers 0.1.0
lanelet_msgs 0.1.0
lidar_localization 0.0.0
prediction 0.0.1
world_model 0.1.0
world_model_markers 0.1.0
world_model_msgs 0.1.0
world_modeling_bringup 0.0.0

README

WATonomous Monorepo (for EVE)

Dockerized monorepo for the WATonomous autonomous vehicle project (dubbed EVE).

Prerequisite Installation

These steps are to setup the monorepo to work on your own PC. We utilize docker to enable ease of reproducibility and deployability.

Why docker? It’s so that you don’t need to download any coding libraries on your bare metal pc, saving headache :3

  1. Our monorepo infrastructure supports Linux Ubuntu >= 22.04, Windows (WSL/WSL2), and MacOS. Though, aspects of this repo might require specific hardware like NVidia GPUs.
  2. Once inside Linux, Download Docker Engine using the apt repository. If you are using WSL, install docker outside of WSL, it will automatically setup docker within WSL for you.
  3. You’re all set! Information on running the monorepo with our infrastructure is given here

Large File Storage

Some nodes require larger files like model weights and maps. Furthermore, we might want to test our codebase on bag recordings which are even larger. These files are stored in our Google Drive (Only accessible by WATonomous members):

  • Bag Recordings (place inside a wato_monorepo/bags/ directory for full functionality)
  • Maps (place inside a wato_monorepo/maps/ directory for full functionality)
    • REQUIRED by world_modeling (map elements for localization on an existing map, .osm file for HD map) (not required when running simulation)
  • Weights (place inside a wato_monorepo/weights/ directory for full funtionality)
    • REQUIRED by perception (model weights for inference)

Available Modules

Infrastructure Starts the foxglove bridge and data streamer for rosbags.

Interfacing Launches packages directly connecting to hardware. This includes the sensors of the car and the car itself. see docs

Perception Launches packages for perception. see docs

World Modeling Launches packages for world modeling. see docs

Action Launches packages for action. see docs

Simulation Launches packages CARLA simulator. see docs

System Architecture

Contribute

Information on contributing to the monorepo is given in DEVELOPING.md

CONTRIBUTING

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

wato_monorepo repository

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

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 (-)

Packages

Name Version
ackermann_pure_pursuit 0.1.0
action_bringup 0.0.0
freeroam_planner 0.1.0
global_planning 0.0.0
lattice_planning 0.0.0
lattice_planning_markers 0.1.0
lattice_planning_msgs 0.1.0
model_predictive_control 0.0.0
mpc_controller 0.0.0
osqp_eigen_vendor 0.0.0
trajectory_planner 1.0.0
wato_trajectory_msgs 0.0.0
infrastructure_bringup 0.0.0
tf_static_relay 0.0.0
vision_msgs_markers 0.0.0
wato_lifecycle_manager 0.1.0
ackermann_mux 0.0.0
camera_calib 0.0.0
lidar_imu_calib 0.0.0
lidar_lidar_calib 0.0.0
can_state_estimator 0.0.0
dummy_ackermann 0.0.0
eve_description 0.0.0
interfacing_bringup 0.0.0
joystick_interfacing 0.0.0
lidar_aggregator 0.0.0
oscc_interfacing 0.0.0
oscc_mux 0.0.0
pid_control 0.0.0
pid_msgs 0.0.0
roscco_msg 0.0.0
sensor_interfacing 0.0.0
topic_healthchecker 0.0.0
attribute_assigner 0.1.0
depth_estimation 0.0.0
feature_extraction 0.0.0
patchworkpp 0.1.0
patchworkpp_vendor 0.0.0
perception_bringup 0.0.0
perception_utils 0.0.1
spatial_association 0.1.0
bytetrack_cpp_vendor 0.0.0
track_viz_2d 0.0.0
tracking 0.0.0
traffic_light_detection 0.0.0
carla_bringup 1.0.0
carla_common 0.1.0
carla_control 1.0.0
carla_lifecycle 1.0.0
carla_localization 1.0.0
carla_msgs 1.0.0
carla_perception 1.0.0
carla_pygame 1.0.0
carla_ros_bridge 1.0.0
carla_sample_description 1.0.0
carla_scenarios 1.0.0
carla_teleop 1.0.0
simulation_bringup 0.0.0
wato_test 0.1.0
behaviortree_ros2_vendor 0.0.0
behaviour 0.0.0
behaviour_markers 0.1.0
behaviour_msgs 0.1.0
costmap 0.1.0
costmap_markers 0.1.0
costmap_msgs 0.1.0
eidos 0.1.0
eidos_msgs 0.1.0
eidos_tools 0.1.0
eidos_transform 0.1.0
lanelet_markers 0.1.0
lanelet_msgs 0.1.0
lidar_localization 0.0.0
prediction 0.0.1
world_model 0.1.0
world_model_markers 0.1.0
world_model_msgs 0.1.0
world_modeling_bringup 0.0.0

README

WATonomous Monorepo (for EVE)

Dockerized monorepo for the WATonomous autonomous vehicle project (dubbed EVE).

Prerequisite Installation

These steps are to setup the monorepo to work on your own PC. We utilize docker to enable ease of reproducibility and deployability.

Why docker? It’s so that you don’t need to download any coding libraries on your bare metal pc, saving headache :3

  1. Our monorepo infrastructure supports Linux Ubuntu >= 22.04, Windows (WSL/WSL2), and MacOS. Though, aspects of this repo might require specific hardware like NVidia GPUs.
  2. Once inside Linux, Download Docker Engine using the apt repository. If you are using WSL, install docker outside of WSL, it will automatically setup docker within WSL for you.
  3. You’re all set! Information on running the monorepo with our infrastructure is given here

Large File Storage

Some nodes require larger files like model weights and maps. Furthermore, we might want to test our codebase on bag recordings which are even larger. These files are stored in our Google Drive (Only accessible by WATonomous members):

  • Bag Recordings (place inside a wato_monorepo/bags/ directory for full functionality)
  • Maps (place inside a wato_monorepo/maps/ directory for full functionality)
    • REQUIRED by world_modeling (map elements for localization on an existing map, .osm file for HD map) (not required when running simulation)
  • Weights (place inside a wato_monorepo/weights/ directory for full funtionality)
    • REQUIRED by perception (model weights for inference)

Available Modules

Infrastructure Starts the foxglove bridge and data streamer for rosbags.

Interfacing Launches packages directly connecting to hardware. This includes the sensors of the car and the car itself. see docs

Perception Launches packages for perception. see docs

World Modeling Launches packages for world modeling. see docs

Action Launches packages for action. see docs

Simulation Launches packages CARLA simulator. see docs

System Architecture

Contribute

Information on contributing to the monorepo is given in DEVELOPING.md

CONTRIBUTING

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

wato_monorepo repository

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

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 (-)

Packages

Name Version
ackermann_pure_pursuit 0.1.0
action_bringup 0.0.0
freeroam_planner 0.1.0
global_planning 0.0.0
lattice_planning 0.0.0
lattice_planning_markers 0.1.0
lattice_planning_msgs 0.1.0
model_predictive_control 0.0.0
mpc_controller 0.0.0
osqp_eigen_vendor 0.0.0
trajectory_planner 1.0.0
wato_trajectory_msgs 0.0.0
infrastructure_bringup 0.0.0
tf_static_relay 0.0.0
vision_msgs_markers 0.0.0
wato_lifecycle_manager 0.1.0
ackermann_mux 0.0.0
camera_calib 0.0.0
lidar_imu_calib 0.0.0
lidar_lidar_calib 0.0.0
can_state_estimator 0.0.0
dummy_ackermann 0.0.0
eve_description 0.0.0
interfacing_bringup 0.0.0
joystick_interfacing 0.0.0
lidar_aggregator 0.0.0
oscc_interfacing 0.0.0
oscc_mux 0.0.0
pid_control 0.0.0
pid_msgs 0.0.0
roscco_msg 0.0.0
sensor_interfacing 0.0.0
topic_healthchecker 0.0.0
attribute_assigner 0.1.0
depth_estimation 0.0.0
feature_extraction 0.0.0
patchworkpp 0.1.0
patchworkpp_vendor 0.0.0
perception_bringup 0.0.0
perception_utils 0.0.1
spatial_association 0.1.0
bytetrack_cpp_vendor 0.0.0
track_viz_2d 0.0.0
tracking 0.0.0
traffic_light_detection 0.0.0
carla_bringup 1.0.0
carla_common 0.1.0
carla_control 1.0.0
carla_lifecycle 1.0.0
carla_localization 1.0.0
carla_msgs 1.0.0
carla_perception 1.0.0
carla_pygame 1.0.0
carla_ros_bridge 1.0.0
carla_sample_description 1.0.0
carla_scenarios 1.0.0
carla_teleop 1.0.0
simulation_bringup 0.0.0
wato_test 0.1.0
behaviortree_ros2_vendor 0.0.0
behaviour 0.0.0
behaviour_markers 0.1.0
behaviour_msgs 0.1.0
costmap 0.1.0
costmap_markers 0.1.0
costmap_msgs 0.1.0
eidos 0.1.0
eidos_msgs 0.1.0
eidos_tools 0.1.0
eidos_transform 0.1.0
lanelet_markers 0.1.0
lanelet_msgs 0.1.0
lidar_localization 0.0.0
prediction 0.0.1
world_model 0.1.0
world_model_markers 0.1.0
world_model_msgs 0.1.0
world_modeling_bringup 0.0.0

README

WATonomous Monorepo (for EVE)

Dockerized monorepo for the WATonomous autonomous vehicle project (dubbed EVE).

Prerequisite Installation

These steps are to setup the monorepo to work on your own PC. We utilize docker to enable ease of reproducibility and deployability.

Why docker? It’s so that you don’t need to download any coding libraries on your bare metal pc, saving headache :3

  1. Our monorepo infrastructure supports Linux Ubuntu >= 22.04, Windows (WSL/WSL2), and MacOS. Though, aspects of this repo might require specific hardware like NVidia GPUs.
  2. Once inside Linux, Download Docker Engine using the apt repository. If you are using WSL, install docker outside of WSL, it will automatically setup docker within WSL for you.
  3. You’re all set! Information on running the monorepo with our infrastructure is given here

Large File Storage

Some nodes require larger files like model weights and maps. Furthermore, we might want to test our codebase on bag recordings which are even larger. These files are stored in our Google Drive (Only accessible by WATonomous members):

  • Bag Recordings (place inside a wato_monorepo/bags/ directory for full functionality)
  • Maps (place inside a wato_monorepo/maps/ directory for full functionality)
    • REQUIRED by world_modeling (map elements for localization on an existing map, .osm file for HD map) (not required when running simulation)
  • Weights (place inside a wato_monorepo/weights/ directory for full funtionality)
    • REQUIRED by perception (model weights for inference)

Available Modules

Infrastructure Starts the foxglove bridge and data streamer for rosbags.

Interfacing Launches packages directly connecting to hardware. This includes the sensors of the car and the car itself. see docs

Perception Launches packages for perception. see docs

World Modeling Launches packages for world modeling. see docs

Action Launches packages for action. see docs

Simulation Launches packages CARLA simulator. see docs

System Architecture

Contribute

Information on contributing to the monorepo is given in DEVELOPING.md

CONTRIBUTING

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

wato_monorepo repository

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

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 (-)

Packages

Name Version
ackermann_pure_pursuit 0.1.0
action_bringup 0.0.0
freeroam_planner 0.1.0
global_planning 0.0.0
lattice_planning 0.0.0
lattice_planning_markers 0.1.0
lattice_planning_msgs 0.1.0
model_predictive_control 0.0.0
mpc_controller 0.0.0
osqp_eigen_vendor 0.0.0
trajectory_planner 1.0.0
wato_trajectory_msgs 0.0.0
infrastructure_bringup 0.0.0
tf_static_relay 0.0.0
vision_msgs_markers 0.0.0
wato_lifecycle_manager 0.1.0
ackermann_mux 0.0.0
camera_calib 0.0.0
lidar_imu_calib 0.0.0
lidar_lidar_calib 0.0.0
can_state_estimator 0.0.0
dummy_ackermann 0.0.0
eve_description 0.0.0
interfacing_bringup 0.0.0
joystick_interfacing 0.0.0
lidar_aggregator 0.0.0
oscc_interfacing 0.0.0
oscc_mux 0.0.0
pid_control 0.0.0
pid_msgs 0.0.0
roscco_msg 0.0.0
sensor_interfacing 0.0.0
topic_healthchecker 0.0.0
attribute_assigner 0.1.0
depth_estimation 0.0.0
feature_extraction 0.0.0
patchworkpp 0.1.0
patchworkpp_vendor 0.0.0
perception_bringup 0.0.0
perception_utils 0.0.1
spatial_association 0.1.0
bytetrack_cpp_vendor 0.0.0
track_viz_2d 0.0.0
tracking 0.0.0
traffic_light_detection 0.0.0
carla_bringup 1.0.0
carla_common 0.1.0
carla_control 1.0.0
carla_lifecycle 1.0.0
carla_localization 1.0.0
carla_msgs 1.0.0
carla_perception 1.0.0
carla_pygame 1.0.0
carla_ros_bridge 1.0.0
carla_sample_description 1.0.0
carla_scenarios 1.0.0
carla_teleop 1.0.0
simulation_bringup 0.0.0
wato_test 0.1.0
behaviortree_ros2_vendor 0.0.0
behaviour 0.0.0
behaviour_markers 0.1.0
behaviour_msgs 0.1.0
costmap 0.1.0
costmap_markers 0.1.0
costmap_msgs 0.1.0
eidos 0.1.0
eidos_msgs 0.1.0
eidos_tools 0.1.0
eidos_transform 0.1.0
lanelet_markers 0.1.0
lanelet_msgs 0.1.0
lidar_localization 0.0.0
prediction 0.0.1
world_model 0.1.0
world_model_markers 0.1.0
world_model_msgs 0.1.0
world_modeling_bringup 0.0.0

README

WATonomous Monorepo (for EVE)

Dockerized monorepo for the WATonomous autonomous vehicle project (dubbed EVE).

Prerequisite Installation

These steps are to setup the monorepo to work on your own PC. We utilize docker to enable ease of reproducibility and deployability.

Why docker? It’s so that you don’t need to download any coding libraries on your bare metal pc, saving headache :3

  1. Our monorepo infrastructure supports Linux Ubuntu >= 22.04, Windows (WSL/WSL2), and MacOS. Though, aspects of this repo might require specific hardware like NVidia GPUs.
  2. Once inside Linux, Download Docker Engine using the apt repository. If you are using WSL, install docker outside of WSL, it will automatically setup docker within WSL for you.
  3. You’re all set! Information on running the monorepo with our infrastructure is given here

Large File Storage

Some nodes require larger files like model weights and maps. Furthermore, we might want to test our codebase on bag recordings which are even larger. These files are stored in our Google Drive (Only accessible by WATonomous members):

  • Bag Recordings (place inside a wato_monorepo/bags/ directory for full functionality)
  • Maps (place inside a wato_monorepo/maps/ directory for full functionality)
    • REQUIRED by world_modeling (map elements for localization on an existing map, .osm file for HD map) (not required when running simulation)
  • Weights (place inside a wato_monorepo/weights/ directory for full funtionality)
    • REQUIRED by perception (model weights for inference)

Available Modules

Infrastructure Starts the foxglove bridge and data streamer for rosbags.

Interfacing Launches packages directly connecting to hardware. This includes the sensors of the car and the car itself. see docs

Perception Launches packages for perception. see docs

World Modeling Launches packages for world modeling. see docs

Action Launches packages for action. see docs

Simulation Launches packages CARLA simulator. see docs

System Architecture

Contribute

Information on contributing to the monorepo is given in DEVELOPING.md

CONTRIBUTING