How muhammedokbi/ogaca works
OGACA is a ROS 2 autonomous-vehicle system. The principal workflow is: an operator starts the stack in the GUI, GPS/IMU and LiDAR/camera data enter ROS, route-following and obstacle-avoidance logic produce motion decisions, and a driving bridge sends commands to the vehicle. The graph also preserves route editing/visualization and lane/sign/obstacle perception. Several links reflect README-documented capabilities rather than inspected call sites; omitted source limits the exact wiring shown.
Main entry points: arayuz.py System GUI · routes_data.js Route data · main.py GPS route follower · ogaca_surus_koprusu.cpp Driving bridge
Components 21
Operator control
- System GUI
arayuz/arayuz.py - Startup steps
arayuz/adimlar.py - Live route map
arayuz/harita.py
GPS and routes
- Route editor
gps/rotalar - Route data
gps/rotalar/routes_data.js - GPS route follower
gps/main.py - GPS filtering
gps/gps_filter.py - MAVROS
- ROS route viewer
src/nav2_dry_run/nav2_dry_run/gps_route_viewer.py
Navigation and safety
- Nav2 avoidance
src/nav2_dry_run/nav2_dry_run/auto_avoidance.py - Safety gate
src/nav2_dry_run/nav2_dry_run/guvenlik_kapisi.py - Driving logic
gps/main.py
Sensors and perception
- RoboSense LiDAR
src/rslidar_sdk/src/manager/node_manager.cpp - ZED camera
gps/engel_zed.py - Lane detection
yolop/lane_detection - Sign detection
tabela_algilama/zed_tabela.py - Qwen model
qwen/izleyici.py
Vehicle output
- Driving bridge
arayuz/haraket/cpp/ogaca_surus_koprusu.cpp - MQTT broker
- Vehicle controller
Other components
- Operator
Connections 23
- Operator → System GUI: operates
- System GUI → Startup steps: reads steps
- System GUI → Live route map: shows map
- System GUI → Route data: selects route
- System GUI → GPS route follower: starts stack
- Operator → Route editor: edits routes
- Route editor → Route data: updates routes
- Route data → Live route map: displays routes
- Route data → GPS route follower: supplies route
- MAVROS → GPS filtering: GPS and IMU
- GPS filtering → GPS route follower: filtered position
- GPS route follower → ROS route viewer: route data
- RoboSense LiDAR → Nav2 avoidance: point cloud
- ZED camera → Lane detection: camera frames
- ZED camera → Sign detection: images and depth
- Lane detection → Driving logic: lane detections
- Sign detection → Driving logic: sign events
- Nav2 avoidance → Driving logic: avoidance state
- Safety gate → Driving bridge: stop requests
- Driving logic → Driving bridge: motion commands
- Driving bridge → MQTT broker: publishes commands
- MQTT broker → Vehicle controller: delivers commands
- Qwen model → System GUI: decision updates