Reference workflow for bridging the ADAS blueprint to ROS 2 Humble perception and Nav2 motion stacks via spanda-ros2.
cd examples/solutions/adas
spanda install # resolves spanda-ros2 from registry
source /opt/ros/humble/setup.bash # when using live ROS 2
spanda check ros2_automotive/automotive_nav.sd
spanda verify ros2_automotive/automotive_nav.sd --capabilities --profile iso26262
spanda sim ros2_automotive/automotive_nav.sd
export SPANDA_ROS2_LIVE=1
spanda run ros2_automotive/automotive_nav.sd
automotive_nav.sd publishes /cmd_vel for Nav2 or manual teleop verification. Optional Nav2 goal bridge: SPANDA_NAV2_CMD (see docs/ffi-and-ecosystem.md).
| Spanda surface | ROS 2 topic | Role |
|---|---|---|
cmd_vel publish |
/cmd_vel |
Motion commands to Nav2 controller |
front_lidar.read() |
/scan (via bridge) |
Obstacle avoidance |
front_camera.analyze() |
/camera/image (via bridge) |
Vision processing |