# I believe Autoware used to provide a branch for PACMod to control vehicle without node SSC. But as it seems the branch is deleted now. Does anyone have access to the previous branch of the autoware?

I believe Autoware used to provide a branch for PACMod to control vehicle without node SSC. But as it seems the branch is deleted now. Does anyone have access to the previous branch of the autoware?

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As far as I know, this has not been the case, as long as I have worked in the project (since version 1.9.0). PACMod vehicles have always required SSC or other custom interface software because Autoware.AI produces high-level commands (like desired speed and heading angle) and PACMod accepts low-level commands (like pedal and steering wheel control). However, you should be able to implement a simplified version of SSC on your own pretty easily with some basic PID control.

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Hi Josh, I am trying to implement a simplified version of SSC on my own. I am a newbie in this field. I am confused about where do I start. Your suggestion are highly appreciate.

( 2020-07-20 18:19:30 -0600 )edit
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I would start with a simple PID controller to convert the desired speed to pedal controls. I believe the output for lateral control is in the form of a geometry_msgs/TwistStamped which is in an autoware_msgs/VehicleCmd. The Twist will contain a quaternion which you can convert to roll/pitch/yaw, of which the yaw is the desired vehicle angle. You will then need to convert this into a tire angle using a vehicle model of some sort (a simple Ackermann-style steering model should be fine) and then use the wheel-angle-to-steering-wheel-angle ratio to get a desired steering wheel angle. You can get this value from the vehicle manufacturer or from AutonomouStuff. That value can be used to command steering. I hope this helps.

( 2020-07-20 18:31:46 -0600 )edit