Overview

The following steps will startup Nissan Leaf, from a head start.

Plain-dead simple steps

You have numerous possibilities to bringup the sensor-actuation synergy of the car. To start every sensor (2 Ouster, 2 Velodyne LIDAR, ZED camera, CAN), launch the following:

roslaunch nissan_bringup nissan.leaf.bringup.2020.A.launch

OK, but I only need one LIDAR.

No problem, this is possible. Start the static transform publishers (it will publish all sensor static transformations, it should not cause any problem):

roslaunch nissan_bringup tf_nissanleaf_statictf.launch

Then select the LIDAR launch file, you intend to launch! For example, Ouster LIDAR with our previously defined parameters:

roslaunch nissan_bringup ouster_left.launch

Of course, if you need both OS1 lidars, you can use the following launch file:

roslaunch nissan_bringup ouster_two_lidar.launch