The Data Recording System (DRS) is a high-performance sensor data recording system designed for autonomous vehicles. It runs on NVIDIA Jetson AGX Orin-based embedded ECUs and synchronously records data from multiple sensors including cameras, LiDARs, and IMUs.
- Multi-Sensor Support: Cameras (v4l2-compatible, TIER IV C1/C2/C3 cams), LiDARs (Seyond), GNSS/INS (OxTS)
- Distributed Architecture: Parallel processing across multiple ECUs (ecu0/ecu1)
- High-Precision Time Synchronization: Inter-sensor synchronization via PTP (Precision Time Protocol)
- Hardware Trigger: GPIO-based sensor synchronization trigger generation
- ROS 2 Based: Native build with ROS 2 Humble, optimized for embedded systems
- API/Dashboard: System management via gRPC API and Web dashboard
- cuda >= 11.8
- gcc <= 11.x
- ros 2 distro == humble
For detailed dependency libraries, please refer to docker/runtime/Dockerfile.
This project depends on the private repository tier4/c2_readout_delay_setter (will be made public soon).
<GITHUB_TOKEN> is a GitHub personal access token with permission to clone this repository. You can create one at https://github.com/settings/tokens.
git clone https://github.com/tier4/drs.git
cd drs
./scripts/setup_repos.sh --token <GITHUB_TOKEN>
rosdep install -y -r --from-paths `colcon list --packages-up-to drs_launch proto_recorder ros2_bridge -p` --ignore-src
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-up-to drs_launch proto_recorder ros2_bridge