ROS2 bridge for Openpilot

ROS2 bridge for C3/X and C4's running Openpilot

Set up Comma device for streaming

1. [PC running ROS2] Install and set-up the openpilot enviroment
   Follow the instructions from official repository: https://github.com/commaai/openpilot/tree/master/tools#native-setup-on-ubuntu-2404-and-macos

2. [Comma3/X or Comma 4] Once you have a Comma 3 or Comma 4 in a car, ssh in to the device and start Cereal bridge: \

   cd openpilot/cereal/messaging/
   ./bridge
   

3. [PC running ROS2] Get back to the Openpilot enviroment on your PC and start the bridge

   cd openpilot
   source .venv/bin/activate
   cd openpilot/cereal/messaging/
   ./bridge [ip adress of the comma device] "carControl","modelV2"
   

   alternatively you can add more services to the bridge

4. [PC running ROS2] Launch the ROS2 scripts

   cd openpilot
   source .venv/bin/activate
   cd openpilot_ros2_bridge/openpilot
   python3 openpilot_prediction_publisher.py && python3 openpilot_prediction_visualizer.py
   
   
   
   

@tambetm Thanks for the original ROS1 version