How to control vehicle with SSC_Interface

asked 2019-06-27 12:54:20 -0500

Andrew Greer gravatar image

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...

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 ssc_joystick launch file. Any help connecting with the ssc_interface or any other avenues for connecting Autoware with a vehicle would be much appreciated.

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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
Maximus5684 gravatar imageMaximus5684 ( 2019-06-27 13:33:41 -0500 )edit

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" />
aohsato gravatar imageaohsato ( 2019-07-11 08:40:33 -0500 )edit