/AutoGoKart

Primary LanguagePython

AutoGoKart

How to Run

  1. Create your own workspace
mkdir -p <WorkSpace>
  1. Clone package into src
cd <WorkSpace>
git clone https://github.com/resilient-autonomous-systems-lab/AutoGoKart.git src
  1. Register USB ports
cd src
sudo chmod 777 bind_usb.sh
sudo sh bind_usb.sh

check if the usb ports are binded

ll /dev/imu_usb
ll /dev/gps_usb

4.1 Run in Docker

  • build image from dockerfile
docker build .
  • build and run container in interactive mode
docker run -it --name [container_name] --device /dev/ttyACM0 --device /dev/imu_usb --device /dev/gps_usb --mount type=bind,src="$(pwm)",target=/gokart_ws [docke_image_name] bash
  1. Build packages Now, you are inside the container, since you bind the workspace, anychange you make in container, it will be refleacted in you workspace, be careful
cd /gokart_ws
colcon build
source /Path to gokart_ws/gokart_ws/install/setup.bash

  1. Run Launch files
    (1) AT9S joystick

    ros2 run at9s_joy at9s_joy

    ROStopic: joy/at9s

    • header.frame_id: at9s_joy

    • axes[0]: throttle command (float, -1: reverse max, 1: forward max) (Right vertical)

    • axes[1]: steering command (float, -1: right max, 1: left max) (left horizonal)

    • axes[2]: Rudder command (float, -1: reverse max, 1: forward max) (left vertical)

    • axes[3]: Elevator command (float, -1: right max, 1: left max) (Right horizonal)

    • buttons: [sWA, sWB, sWC, sWD, sWE, sWF] (int, 0: disabled (buttons are at reverse position), 1: Enabled)

    (2) IMU

    ros2 launch wit_ros2_imu rviz_and_imu.launch.py

    ROStopic:

    • /imu/raw_data

    (3) GPS

    ros2 launch nmea_navsat_driver nmea_serial_driver.launch.py

    ROStopic:

    • /fix
    • /vel
    • /heading

    To read the data, open another terminal

    source /Path to WorkSpace/<WorkSpace>/install/setup.bash
ros2 run nmea_navsat_driver read_lat_long

    (4) Joystick

    ros2 run joy
ros2 run joystick joystick

    ROStopic:

    • control_command.header.frame_id: at9s_joy
    • control_command.point.x: throttle command (-1: reverse max, 1: forward max)
    • control_command.point.y: steering command (-1: right max, 1: left max)

(5) Command Center

<run joystick node or cockpit node>
ros2 run command_center command_center

ROStopic:

  • sbw_control.header.frame_id: sbw_input
  • sbw_control.point.x: steering command (-30: right max, 30: left max)

ROS Node - Details

IMG_0162

Usage Node number Node Name Topic number Topic Name Msg Type
Read Angle from SBW Encoder 5 gokart_sbw sbw_feedback geometery_msgs/msg/PointStamped
Send Steering Angle To SBW Encoder 5 gokart_sbw 2 sbw_control geometery_msgs/msg/PointStamped
Read Steering Control And Throttle Control from Computer/ Controller 7 gokart_command 1 control_command geometery_msgs/msg/PointStamped
Send JoyStick(Gamepad) To Command Extractor 3 gokart_joystick 4 joystick_command sensor_msgs/msg/joy
Send Cockpit To Command Extractor 2 gokart_cockpit 5 cockpit_command geometery_msgs/msg/PointStamped