README.md

deeporange14_control Package

Deep Orange DBW Controls Interface Package for Autonomous Driving

Functionality:

• DeepOrangeDbwCan.cpp: Enable passing the ROS topics to the Raptor DBW controller via SocketCAN, which executes the commands for the platform to move. Additionally monitors rtk fix, logging status
• VelocityController.cpp: Use the vehicle dynamics model to convert vehicle velocity to left and right track velocity/torques.
• StateMachine.cpp: A ROS state machine in sync with the Raptor controller state machine.
• RosHealthMonitor.cpp: A node that Monitor health of raptor hanshake, brake acknowledgement from raptor , autonomy stack fault and dbw ros mode
• DataLoggerNode.cpp: logging CAN and ROS data while monitoring logging status active or Fail
• Node.cpp - Instantiates the three objects in a single node (as of now).

How to Use:

• To add/update CAN msg IDs- update these in the dbc in the dbc folder as well as dispatch_can_msgs.h include file
• Vehicle and subsystem states are enumerated in DeeporangeStateEnums.h

Dependencies:

• can_dbc_parser: Developed by New Eagle as part of metapackage - https://github.com/NewEagleRaptor/raptor-dbw-ros
• deeporange14_msgs : Package for custom messages for DO13 DBW operation
• socketcan_bridge : Package for interfacing CAN to ROS on Linux - https://github.com/ros-industrial/ros_canopen
• can_msgs : Package to support CAN msg format on ROS topics. - https://github.com/ros-industrial/ros_canopen
• rosdep install --from-paths src --ignore-src -r -y

Contributors:

• Sanskruti Jadhav (sanskrj@clemson.edu)

• Shubham Gupta (gupta9@clemson.edu)

• Shubhankar Kulkarni (sskulka@clemson.edu)

• Priyanshu Rawat (prawat@clemson.edu)

• Vasudev Purohit (vpurohi@clemson.edu)

• Program Manager/Maintainer: Chris Paredis (paredis@clemson.edu)