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How to control vehicle with SSC_Interface

Environment: Ubuntu 16.04 Autoware 1.11.0 docker build Pacmod3 SSC

I have been trying to connect a Lexus RX 450h, which has pacmod installed, with Autoware. I have not been able to find any detailed documentation regarding this. I found the ssc_interface node and tried to run it using the steps from PR # 1945. https://github.com/autowarefoundation/autoware/pull/1945

I was able to get the interface running and getting input from autoware, however, it did not seem to be communicating to either SSC or Pacmod. I don't know if I am launching pacmod in the appropriate way that allows connection with the interface, using the sscjoystick launch file. Any help connecting with the sscinterface or any other avenues for connecting Autoware with a vehicle would be much appreciated.

Asked by Andrew Greer on 2019-06-27 12:54:20 UTC

Comments

This may be due to mismatched topics. Can you please run all of your nodes (including SSC and SSC Interface) and then run the following bash script in a terminal? This will tell you which topics are being subscribed to but not published on:

for node in $(rosnode list); do rosnode info $node | grep unknown; done

Asked by Josh Whitley on 2019-06-27 13:33:41 UTC

I think you need to remap topics like this for your version.

  <remap from="/as/enable_cmd" to="/pacmod/as_rx/enable" />
  <remap from="/as/throttle_cmd" to="/pacmod/as_rx/accel_cmd"/>
  <remap from="/as/brake_cmd" to="/pacmod/as_rx/brake_cmd"/>
  <remap from="/as/steering_cmd" to="/pacmod/as_rx/steer_cmd"/>
  <remap from="/as/transmission_cmd" to="/pacmod/as_rx/shift_cmd"/>
  <remap from="/as/turn_signal_cmd" to="/pacmod/as_rx/turn_cmd"/>
  <remap from="/as/global_report" to="/pacmod/parsed_tx/global_rpt"/>
  <remap from="/as/throttle_report" to="/pacmod/parsed_tx/accel_rpt"/>
  <remap from="/as/brake_report" to="/pacmod/parsed_tx/brake_rpt"/>
  <remap from="/as/steering_report" to="/pacmod/parsed_tx/steer_rpt"/>
  <remap from="/as/speed" to="/pacmod/parsed_tx/vehicle_speed_rpt" />
  <remap from="/as/wheel_speed" to="/pacmod/parsed_tx/wheel_speed_rpt" />
  <remap from="/as/transmission_report" to="/pacmod/parsed_tx/shift_rpt" />

Asked by aohsato on 2019-07-11 08:40:33 UTC

Hi Andrew, can you please elaborate how you control your vechile using autoware. I am also doing research in same topics your help will be highly appreciated.

Asked by sudip on 2020-06-17 09:57:17 UTC

@sudip I recommend contacting AutonomouStuff as they produce the PACMod system and the SSC that @andrew-greer is talking about.

Asked by Josh Whitley on 2020-06-17 15:59:12 UTC

@andrew Hi Andrew, are you using SSC software provided by the AutonomousStuff (https://autonomoustuff.com/product/astuff-speed-steering-control-software/) or is it just the autoware and the Lexus RX 450h ?

Asked by sudip on 2020-07-08 16:30:35 UTC

Answers