jkk-research / lexus_base

ROS 1 package for basic functions on Lexus rx450h

lexus_base

ROS package for basic functions on Lexus rx450h.

• https://github.com/astuff/kvaser_interface
• https://github.com/astuff/pacmod3

sudo apt install ros-melodic-pacmod-msgs
pip install pyqtgraph numpy scipy matplotlib

cd catkin_ws
git clone https://github.com/astuff/astuff_sensor_msgs
cd astuff_sensor_msgs
git checkout 25b72c1a4567f3e71c187e19c192f1e7a8a3b75e
catkin build pacmod_msgs

rostopic type /pacmod/parsed_tx/vehicle_speed_rpt
pacmod_msgs/VehicleSpeedRpt

rostopic type /pacmod/parsed_tx/accel_rpt
pacmod_msgs/SystemRptFloat

rostopic type /pacmod/parsed_tx/brake_rpt
pacmod_msgs/SystemRptFloat

rosmsg show pacmod_msgs/SystemRptFloat
std_msgs/Header header
  uint32 seq
  time stamp
  string frame_id
bool enabled
bool override_active
bool command_output_fault
bool input_output_fault
bool output_reported_fault
bool pacmod_fault
bool vehicle_fault
float64 manual_input
float64 command
float64 output

Topics

• /pacmod/as_rx/accel_cmd - reference
• /pacmod/parsed_tx/accel_rpt - actual
• /pacmod/parsed_tx/vehicle_speed_rpt - actual speed

Install CAN pacmod

• https://github.com/astuff/kvaser_interface
• https://github.com/astuff/pacmod3
• https://github.com/astuff/pacmod_game_control

sudo apt install ros-melodic-socketcan-interface
sudo apt install ros-melodic-socketcan-bridge
sudo apt install can-utils 

modprobe can_dev
modprobe can
modprobe can_raw
sudo ip link set can0 type can bitrate 500000
sudo ip link set up can0

sudo ip link set can0 up type can bitrate 500000

Test

rosrun kvaser_interface list_channels 
candump can0
cansniffer can0

Config

roscd pacmod_game_control/launch/
code pacmod_game_control.launch 

<arg name="use_socketcan" default="true" />

roslaunch pacmod_game_control pacmod_game_control.launch

Further reading

• https://autonomoustuff.atlassian.net/wiki/spaces/RW/overview
• https://github.com/astuff
• http://wiki.ros.org/pacmod3

Rosgraph

Sensor data