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Installing Nebula

Requirements

Nebula requires ROS 2 (Galactic or Humble) to build the ROS 2 wrapper. Please see the ROS 2 documentation for how to install.

Getting the source and building

Note

Boost version 1.74.0 or later is required. A manual install may be required in Ubuntu versions earlier than 22.04.

To build Nebula run the following commands in your workspace:

# In workspace
git clone https://github.com/tier4/nebula.git
cd nebula
# Import dependencies
vcs import < build_depends.repos
rosdep install --from-paths . --ignore-src -y -r
# Build Nebula
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=1

Building only specific vendors

By default, building the nebula package will build all supported vendors. To build only specific vendors, use the --packages-up-to flag:

# Build only Hesai support
colcon build --packages-up-to nebula_hesai

# Build multiple vendors
colcon build --packages-up-to nebula_hesai nebula_velodyne

Available vendor packages are:

  • nebula_hesai - Hesai LiDARs (Pandar series, AT128, OT128, etc.)
  • nebula_velodyne - Velodyne LiDARs (VLP-16, VLP-32, VLS-128)
  • nebula_robosense - Robosense LiDARs (Bpearl, Helios)
  • nebula_continental - Continental radars (ARS548, SRR520)

Testing your build

To run Nebula unit tests:

colcon test

Show results:

colcon test-result --all