Mobile Mapping Backpack

Multi-sensor data acquisition platform integrating LiDAR, cameras, IMU, and GNSS. Built on ROS2 Humble. Goal: synchronized, time-stamped rosbag recordings for offline calibration validation and trajectory evaluation.

Sensor Configuration

Sensor	Type	Interface	ROS2 Driver
HESAI JT128	128-beam LiDAR	GbE	hesai_ros_driver
OAK-4D Luxonis	RGB-D + IMU	USB3	depthai_ros_driver (v3)
OAK-D Lite Luxonis	RGB-D	USB3	depthai_ros_driver
Intel RealSense D4xx	RGB-D	USB3	realsense2_camera
Xsens MTi-610R	IMU	USB/RS-422	xsens_mti_ros2_driver
u-blox + ANN-MB-00	GNSS/RTK	USB/UART	ublox_gps
Insta360	360° video	Internal SD	(no ROS2 driver — sync post-hoc)

Compute

Device	Role
NVIDIA Jetson Orin Nano S	Primary ROS2 host — runs all drivers and rosbag2 recording
Raspberry Pi	Auxiliary — serial bridge for IMU/GNSS if needed

Repository Structure

docs/
  setup/
    01_ros2_humble.md       ROS2 Humble installation on Jetson (Ubuntu 22.04)
    02_sensor_drivers.md    Per-sensor driver build and udev rules
    03_time_sync.md         Chrony + PTP time synchronization
  data_collection_protocol.md   Week 1 deliverable — frame IDs, topic names, recording procedure

ros2_ws/src/mmb_bringup/
  launch/
    all_sensors.launch.py   Master launch — brings up every sensor driver
    lidar.launch.py
    cameras.launch.py
    imu_gnss.launch.py
    recording.launch.py     Starts rosbag2 with MCAP storage
  config/
    hesai_jt128.yaml        Hesai driver parameters
    topics.yaml             Topic list for recording

evaluation/
  evo_workflow.md           ATE/RPE evaluation with the evo toolkit

Quick Start

# 1. Check Ubuntu version — must be 22.04 for Humble
lsb_release -a

# 2. Install ROS2 Humble
# Follow docs/setup/01_ros2_humble.md

# 3. Install sensor drivers
# Follow docs/setup/02_sensor_drivers.md

# 4. Build the bringup package
cd ros2_ws && colcon build --symlink-install
source install/setup.bash

# 5. Launch all sensors
ros2 launch mmb_bringup all_sensors.launch.py

# 6. Start recording (separate terminal)
ros2 launch mmb_bringup recording.launch.py bag_name:=mmb_20260101_1200_hallway_run01

Team

Student	Role
1	Camera Calibration Lead
2	LiDAR Calibration Lead
3	GNSS-IMU Calibration Lead
4	Extrinsic Calibration Integrator
5	CAD Design Lead
6	System Integration & Testing Lead