About

This repository is for the ECU-Core part of the Autonomous-Driving-System project. The ECU-Core is based on an independent RaspberryPi board and performs following tasks.

Publish LIDAR scan data as ROS2 topic
Publish depth camera image data as ROS2 topic
Receive vehicle informations as ROS2 topic and convert them into CAN communication
Control the execution of autonomous driving mode

We used YDLIDAR X4 and RealSense D435 depth camera in this project. For more detailed information, refer to the Autonomous-Driving-System project.

Requirements

Ubuntu 20.04

Install Ubuntu 20.04 for RaspberryPi using RaspberryPi OS Imager.
CAN HAT setup

Follow the instruction of 2-CH CAN FD HAT setup and enable Single SPI Mode.
ROS2 setup

Follow the instruction of ROS2 foxy setup.
LIDAR SDK setup

Follow the instruction of YDLidar-SDK setup.
Depth camera SDK setup

Follow the instruction of RealSense documentation. If you encounter issues while running the software installed on RaspberryPi, refer to the following page.

OpenCV packages

pip install opencv-python
sudo apt install ros-foxy-cv-bridge

Python packages

pip install numpy
pip install transforms3d

Usage

# Execute on the ECU-Core
colcon build
source install/setup.bash
sh can_setup.sh

ros2 run lidar_pub lidar_pub

ros2 run camera_pub camera_pub

ros2 run receiver receiver

ros2 run headunit_start headunit_start

Note

The ROS2 topic communication is machine-to-machine. Make sure that both ECU-Core and local machine are connected to the same WLAN. If the connection is not successful, disable the firewall using the following command.

# Execute on the ECU-Core and local machine
sudo ufw disable

Context of CAN communication

Message	Purpose	Arbitration ID
steering	Control	0x00
throttle	Control	0x01
x position	GPS	0x02
y position	GPS	0x03
orientation	GPS	0x04
headunit start	Autonomous driving	0x05

SEA-ME-COSS/ECU-Core

About

Requirements

Usage

Note