Hydrakon | HWUD

Hydrakon is the central codebase for our participation in Formula Student UK 2025. It houses all the software systems used to control and operate the ADS-DV (Autonomous Driving System – Development Vehicle).

• Nvidia Jetson AGX Orin (64 GB)
• ZED2i Stereo Camera
• Robosense Helios 16
• CHCNAV CGI-410 (INS)
• TP-Link AX1500 Wi-Fi 6

Network Settings

• Ethernet Connections

  • Jetson AGX Orin ➔ 192.168.1.100 (LAN1)
  • Robosense Helios 16 ➔ 192.168.1.200 (LAN2)
  • CHCNAV CGI-410 INS ➔ 192.168.1.201 (LAN3)

• LiDAR configuration

  • Device IP Address ➔ 192.168.1.200
  • Device IP Mask ➔ 255.255.255.0
  • Device IP Gateway ➔ 192.168.1.1
  • Destination IP Address ➔ 192.168.1.100 (Jetson)
  • MSOP Port ➔ 6699
  • DIFOP Port ➔ 7788
  • Return Mode ➔ Strongest
  • Rotation Speed ➔ Set it to 600/1200 as needed
  • Operation Mode ➔ High Performance

Configuring the Router

• Connect the router to your Dev System using an Ethernet cable, and then navigate to 192.168.0.1 or 192.168.1.1 depending on your router
• Set the admin password and Wi-Fi password
• Go to Advanced ➔ Backup and Restore
• Then download the configuration file from here and load it in
• You should now have your router configured :P

Getting Started

1. Make sure you have ROS2 Installed, if not follow instructions here
2. Get the RSLidar SDK package from here
3. Get the RSLidar MSG package from here
4. Clone this repository using git clone https://github.com/FS-AI-HWUD/Hydrakon.git
5. Add the rslidar_sdk and rslidar_msg into the repository
6. Source ROS2 using source /opt/ros/humble/setup.bash (for ROS2 Humble)
7. Run the following commands one after the other

   cd Hydrakon
   colcon build --symlink-install
   source install/setup.bash
   ros2 launch fs_launch hydrakon_launch.py

8. YIPPEE you now have everything working (I hope) :P, move on to visualizing data

To Visualize Data

• Ensure you have Foxglove Studio Installed, else download it from here
• Ensure you have configured your router using the .bin file
• Connect to the Hotspot from the router
• Open Foxglove ➔ Open connection ➔ Foxglove websocket
• Then connect to ws://192.168.1.100:8765
• You have now connected to the Jetson, feel free to add in any topics as you like

Our recommended system configuration

• Dev Systems
  • CPU: Intel i7-12th Gen and above, Ryzen 7-11 and above
  • GPU: RTX 3060 and above
  • RAM: Min 16 GB RAM
  • Storage: Min 10 GB
  • OS: Ubuntu 22.04 LTS
  • ROS2 Version: ROS2 Humble

Common Issues

LiDAR not detected:

• Check physical connections (LAN2 port)
• Verify LiDAR IP: ping 192.168.1.200

Cannot SSH to Jetson:

• Use Ethernet IP: ssh [email protected]

Foxglove can't connect:

• Ensure connected to router WiFi
• Check Jetson IP: ws://192.168.1.100:8765

If any other issues arise, feel free to contact our team at Hydrakon. Don't worry, Hydrakon, and Atlas Racing come under HWURacing