From caaad1353a8a7b3c2c04e80d2895fd1ee0772a84 Mon Sep 17 00:00:00 2001
From: Dmytro <dimazez@ukr.net>
Date: Wed, 16 Dec 2020 15:49:28 +0200
Subject: [PATCH 1/2] Added ssc interface launch file, fixed novatel launch
file
---
.../launch/drivers/novatel.launch.py | 4 +-
.../launch/drivers/ssc_interface.launch.py | 82 +++++++++++++++++++
.../launch/platform.launch.py | 8 ++
.../param/ssc_interface.param.yaml | 25 ++++++
4 files changed, 117 insertions(+), 2 deletions(-)
create mode 100644 src/vehicle_platform/launch/drivers/ssc_interface.launch.py
create mode 100644 src/vehicle_platform/param/ssc_interface.param.yaml
diff --git a/src/vehicle_platform/launch/drivers/novatel.launch.py b/src/vehicle_platform/launch/drivers/novatel.launch.py
index a6fdad9..63a1a0f 100644
--- a/src/vehicle_platform/launch/drivers/novatel.launch.py
+++ b/src/vehicle_platform/launch/drivers/novatel.launch.py
@@ -17,7 +17,7 @@ def generate_launch_description():
node_name='novatel_gps',
parameters=[{
'connection_type': 'tcp',
- 'device': '192.168.74.10:2000',
+ 'device': '192.168.100.150:3004',
'verbose': False,
'publish_novatel_positions': True,
'publish_novatel_velocity': True,
@@ -35,4 +35,4 @@ def generate_launch_description():
output='screen'
)
- return LaunchDescription([container])
\ No newline at end of file
+ return LaunchDescription([container])
diff --git a/src/vehicle_platform/launch/drivers/ssc_interface.launch.py b/src/vehicle_platform/launch/drivers/ssc_interface.launch.py
new file mode 100644
index 0000000..136aa65
--- /dev/null
+++ b/src/vehicle_platform/launch/drivers/ssc_interface.launch.py
@@ -0,0 +1,82 @@
+# Copyright 2020 The Autoware Foundation
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# آ آ http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from launch import LaunchDescription
+from launch.substitutions import LaunchConfiguration
+from launch.actions import DeclareLaunchArgument
+from launch_ros.actions import Node
+from ament_index_python import get_package_share_directory
+import os
+
+
+def get_share_file(package_name, file_name):
+ return os.path.join(get_package_share_directory(package_name), file_name)
+
+
+def generate_launch_description():
+ """
+ Launch necessary dependencies for working with AutonomouStuff SSC and ROS 2/Autoware.Auto.
+
+ The SSC interface, which translates inputs and outputs to and from Autoware messages.
+ """
+ # --------------------------------- Params -------------------------------
+
+ # In combination 'raw', 'basic' and 'high_level' control
+ # in what mode of control comands to operate in,
+ # only one of them can be active at a time with a value
+ control_command_param = DeclareLaunchArgument(
+ 'control_command',
+ default_value="basic", # use "raw", "basic" or "high_level"
+ description='command control mode')
+
+ # Default ssc_interface params
+ ssc_interface_param = DeclareLaunchArgument(
+ 'ssc_interface_param',
+ default_value=[
+ get_share_file('vehicle_platform', 'param/ssc_interface.param.yaml')
+ ],
+ description='Path to config file for SSC interface')
+
+ # -------------------------------- Nodes-----------------------------------
+
+ # SSC interface
+ ssc_interface = Node(
+ package='ssc_interface',
+ node_name='ssc_interface_node',
+ node_executable='ssc_interface_node_exe',
+ node_namespace='vehicle',
+ output='screen',
+ parameters=[LaunchConfiguration('ssc_interface_param')],
+ remappings=[
+ ('gear_select', '/ssc/gear_select'),
+ ('arbitrated_speed_commands', '/ssc/arbitrated_speed_commands'),
+ ('arbitrated_steering_commands', '/ssc/arbitrated_steering_commands'),
+ ('turn_signal_command', '/ssc/turn_signal_command'),
+ ('dbw_enabled_feedback', '/ssc/dbw_enabled_fedback'),
+ ('gear_feedback', '/ssc/gear_feedback'),
+ ('velocity_accel_cov', '/ssc/velocity_accel_cov'),
+ ('steering_feedback', '/ssc/steering_feedback'),
+ ('vehicle_kinematic_state_cog', '/vehicle/vehicle_kinematic_state'),
+ ('state_report_out', '/vehicle/vehicle_state_report'),
+ ('state_command', '/vehicle/vehicle_state_command')
+ ]
+ )
+
+ ld = LaunchDescription([
+ control_command_param,
+ ssc_interface_param,
+ ssc_interface
+ ])
+ return ld
+
diff --git a/src/vehicle_platform/launch/platform.launch.py b/src/vehicle_platform/launch/platform.launch.py
index 9aff5ec..b4cda6d 100644
--- a/src/vehicle_platform/launch/platform.launch.py
+++ b/src/vehicle_platform/launch/platform.launch.py
@@ -51,9 +51,17 @@ def generate_launch_description():
PythonLaunchDescriptionSource(pacmod_driver_path)
)
+ ssc_interface_driver_path = get_share_file(
+ package_name='vehicle_platform',
+ file_name='launch/drivers/ssc_interface.launch.py')
+ ssc_interface_driver = IncludeLaunchDescription(
+ PythonLaunchDescriptionSource(ssc_driver_path)
+ )
+
return LaunchDescription([
robot_state_publisher,
novatel_driver,
velodyne_driver,
pacmod_driver,
+ ssc_driver
])
diff --git a/src/vehicle_platform/param/ssc_interface.param.yaml b/src/vehicle_platform/param/ssc_interface.param.yaml
new file mode 100644
index 0000000..98d3681
--- /dev/null
+++ b/src/vehicle_platform/param/ssc_interface.param.yaml
@@ -0,0 +1,25 @@
+/**:
+ ros__parameters:
+ cycle_time_ms: 10
+ # Only one of the three control command topics need be specified
+ # "raw", "basic" or "high_level"
+ control_command: "basic"
+ ssc:
+ front_axle_to_cog: 1.228
+ rear_axle_to_cog: 1.5618
+ max_yaw_rate: 1.5708
+ state_machine:
+ gear_shift_velocity_threshold_mps: 0.5
+ acceleration_limits:
+ min: -5.0
+ max: 15.0
+ threshold: 1.0
+ front_steer_limits:
+ min: -0.533
+ max: 0.533
+ threshold: 0.3
+ time_step_ms: 100
+ timeout_acceleration_mps2: 3.0
+ state_transition_timeout_ms: 3000
+ gear_shift_accel_deadzone_mps2: 0.5
+
--
GitLab
From 9332a6855b538fc5824ffeafb57094ff63249bfe Mon Sep 17 00:00:00 2001
From: Dmytro <dimazez@ukr.net>
Date: Wed, 16 Dec 2020 15:52:37 +0200
Subject: [PATCH 2/2] Typo fix
---
src/vehicle_platform/launch/platform.launch.py | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/src/vehicle_platform/launch/platform.launch.py b/src/vehicle_platform/launch/platform.launch.py
index b4cda6d..573211a 100644
--- a/src/vehicle_platform/launch/platform.launch.py
+++ b/src/vehicle_platform/launch/platform.launch.py
@@ -63,5 +63,5 @@ def generate_launch_description():
novatel_driver,
velodyne_driver,
pacmod_driver,
- ssc_driver
+ ssc_interface_driver
])
--
GitLab