IBEX Workspace

ROS 2 workspace for the IBEX autonomous ground vehicle platform.

Prerequisites

• Ubuntu 22.04
• ROS 2 Humble
• python3-vcstool, python3-colcon-common-extensions, python3-rosdep

sudo apt install python3-vcstool python3-colcon-common-extensions python3-rosdep
sudo rosdep init   # only first time on a machine
rosdep update

Setup

git clone <this-repo-url> ibex_ws
cd ibex_ws
mkdir -p src
vcs import src < ibex.repos
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install
source install/setup.bash

System dependencies

Ouster LiDAR

sudo apt install libzip-dev
sudo ufw allow 7502/udp
sudo ufw allow 7503/udp

Configure sensor to a link-local subnet (169.254.x.x range) matching host.

Insta360 camera

[any specific notes about USB rules, drivers, etc.]

Package overview

• <your_package_1> — brief description
• <your_package_2> — brief description
• [etc.]

Updating third-party packages

To pull the latest pinned versions:

vcs import src < ibex.repos --force

To update a pin, edit ibex.repos and commit.