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Rgator_supervisor_computer_ws

supervisor computer: localization, control, and vehicle interface

perception computer: sensor interface, perception, and planning

ROS2 Packages:

dbw:

  • dbw: subscribe control command
  • dbw_read: subscribe control command; read CAN bus data, convert to ROS2 topic

joy_control:

  • joy_control: subscribe joystick input and publish contorl command

dbw_msgs:

  • Dbw: define control command
  • [PGNs]: vehicle CAN bus data msg

vectornav:

  • vectornav: gnss-ins-imu driver
  • vectornav_msgs: gnss-ins-imu msg

gps_nav:

  • pid: control vehicle speed only
  • pp_pid: pure pursuit for steering control, pid for speed control
  • track_log: log x,y,heading data from imu, convert to .csv file
  • path_visual: visualize track

 

Driver Usage:

Joystick driver:

default joystick input frequency at 20Hz:

ros2 run joy joy_node

set joystick input frequency as 40Hz:

ros2 run joy joy_node --ros-args -p autorepeat_rate:=40.0

Drive-by-wire:

control the vehicle only:

ros2 run dbw dbw

control the vehicle and read CAN bus data:

ros2 run dbw dbw_read

Vectornav GNSS-INS sensor:

launch with modified configuratuion file:

ros2 launch vectornav vectornav.launch.py

 

Project Application:

Joystick control

ros2 run joy joy_node
ros2 run joy_control joy_control
ros2 run dbw dbw

or

ros2 launch joy_control joy_control_launch.py

Path track

ros2 launch vectornav vectornav.launch.py
ros2 run dbw dbw
ros2 run gps_nav pp_pid

Path log

ros2 launch vectornav vectornav.launch.py
ros2 run gps_nav track_log