Installation

Compile the autominy project

The autominy project must be installed on your computer to interact and develop for the car:

source /opt/ros/humble/setup.bash
sudo apt install git
git clone https://github.com/autominy/autominy
cd autominy/catkin_ws
sudo apt install python3-rosdep python3-colcon-common-extensions clang
sudo rosdep init
rosdep update
rosdep install --from-paths . --ignore-src --rosdistro=humble -y
colcon build --symlink-install --cmake-args -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++
source install/setup.bash

It is probably a good idea to add the project to the .bashrc (when using bash) or .zshrc (when using zsh).

When using bash:

echo "source /path/to/your/installation/catkin_ws/install/setup.bash" >> ~/.bashrc

When using zsh:

echo "source /path/to/your/installation/catkin_ws/install/setup.zsh" >> ~/.zshrc

Working on the car remotely

You can connect to the ROS running on the car remotely from your computer by setting the environment variable ROS_DOMAIN_ID:

The ROS_DOMAIN_ID must be the same on your computer as on the model car. The model car’s ‘ROS_DOMAIN_ID’ can be calculated by CAR_ID - 100.

export ROS_DOMAIN_ID=[xyz]

It is a good idea to add these lines to your .bashrc or .zshrc file to have these variables set on every shell session automatically.