eufs_autonomy

C++ ROS 2 autonomy pipeline for the EUFS simulator:

perception (LiDAR + camera) → mapping → centerline planning → pure pursuit control

What’s in this repo

This repository contains only my autonomy stack (nodes + launch).
You will still need the EUFS simulator in a separate workspace (or the same workspace as a source dependency).

Dependencies

• ROS 2 (tested on Ubuntu 20.04 + ROS 2 Galactic)
• PCL, OpenCV, Eigen3
• cv_bridge, pcl_conversions, tf2_*, ackermann_msgs

Build (colcon)

Inside your ROS 2 workspace:

cd ~/your_ws/src
git clone https://github.com/feras-omer/FS-AI-Feras eufs_autonomy
cd ..
rosdep install --from-paths src --ignore-src -r -y
colcon build --packages-select eufs_autonomy
source install/setup.bash

Run

ros2 launch eufs_autonomy pipeline.launch.py

Notes on EUFS

This stack was developed and tested against the EUFS simulator and messages maintained by the Edinburgh University Formula Student team. See their GitLab projects for setup instructions and licensing.