Utils

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This repository contains all files and folders not designed for a proper function or simply not organized yet. They are here for probable future use.

ROS Interfaces

Warning

The interfaces which are presented here are not organized and therefore are not related. This implies for the user to add the description to a new package or folder added in this repository.

Topics (Example)

• self.track_sub = Subscriber(self,TrackStamped,"track")
• self.pointcloud_pub = Publisher(self,PointCloud2,"pointcloud")

Topics and messages used in Utils package.

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Module	Direction	Topic	Message Type	Notes
Utils	Sub	/track	nav_msgs/TrackStamped	Track input
Utils	Pub	/pointcloud	sensor_msgs/PointCloud2	Pointcloud output

Dependencies

Core dependencies (minimum):

• ROS 2 Humble (or newer)
• rclcpp / rclpy
• nav_msgs, sensor_msgs, fs_msgs
• ament_cmake
• colcon (build system)

Folders descriptions

Camera Utils

This folder is designed for storing camera-related codes. Now, there are two Python files developed also for calculations involving camera errors.

Pointcloud RGB Launcher

This launcher is designed for launching the pointcloud

Rosbag Converter

This "package" is designed for converting track rosbags to CSV files.

Workspace Lockfile

Files responsible for cloning all the correct versions of each package that integrates this pipeline. Using workspace.lock.repos, it is possible to freeze functional versions of the code by recording the exact and immutable versions of all dependencies used to build an artifact, ensuring that anyone can reproduce the same build result.

After executing the given commands in the terminal, a workspace.lock.repos file will be generated in the workspace root directory. Move this file to the pipeline_releases directory and give it a name that reflects the functionality of that version

Commands

Creating the lockfile

cd ~/ros2_ws
vcs export --exact src > workspace.lock.repos

Note

• Scans all Git repositories inside the src/ directory
• Reads the exact commit hash currently checked out in each repository
• Writes a .repos file containing the repository URLs and their immutable commit versions
• Creates a reproducible snapshot of the entire pipeline

Moving file to correct place

mv workspace.lock.repos pipeline_releases/

Note

• Moves the generated lockfile to the directory reserved for pipeline releases
• Keeps release artifacts separated from development files

Renaming file

mv pipeline_releases/workspace.lock.repos pipeline_releases/amp_pipeline_humble_2026-01-14.lock.repos

Note

• Rename the lockfile to reflect the pipeline version
• Makes it clear which functionality, ROS distribution, and validation date this pipeline version corresponds to

Using a frozen pipeline version

vcs import src < pipeline_releases/amp_pipeline_humble_2026-01-14.lock.repos
colcon build

Note

• Clones all repositories listed in the lockfile
• Rebuilds the same pipeline that was previously validated