# Software (BB + AC1)

The **Evander** software configuration builds directly on the {ref}`Barebone Software <barebone-software>` setup.

In addition to the core flight software, the following is included for LiDAR
integration:

RoboSense AC1 SDK
-----------------

- Repository: <a href="https://github.com/RoboSense-Robotics/robosense_ac_ros2_sdk_infra" target="_blank" rel="noopener noreferrer">AC1 ROS2 Driver</a>  

- Features:
  - Publishes raw LiDAR point clouds to ROS 2 topics.  
  - Includes sample launch files for quick bring-up.  
  - Compatible with RViz2 for real-time visualization.  

Installation & Usage
--------------------

1. Clone the SDK into your ROS 2 workspace:

   ```bash
   cd ~/ros2_ws/src
   git clone https://github.com/RoboSense-Robotics/robosense_ac_ros2_sdk_infra.git
   cd ~/ros2_ws
   colcon build --packages-select robosense_ac_ros2_sdk_infra
   source install/setup.bash