/Kvaser

This is for Real Time transmission from ROS Topic Data to the Other PC

Primary LanguageC++

Kvaser

This is for Real Time transmission from ROS Topic Data to the Other PC
And this is Based on Ros Package in Autoware, Kavser.
you should Build Autowar_msgs, Autowar_can_msgs First

1. Download some packages from

https://github.com/junha1125/Kvaser/tree/junha1125-English-Commend/Kvaser-0930

2. Move Folders

Move “autoware_can_msgs”,“autoware_msgs” Folders to ~/catkin_ws/src, and Build using $ cd ~/catkin_ws %% catkin_make. image

3. After Building successfully

Move “kvaser” Folder to ~/catkin_ws/src, Build in the same way. using $ cd ~/catkin_ws %% catkin_make.

4. Now you have a complete workspace.

Therefore type commands on the Ubuntu terminal step by step.
image

$ rosrun kvaser can_tx_to_raw
(ps. You had to connect Kvaser Device and check if your ROS is subscribing /can_tx)
$ rosrun kvaser can_Mobileye_Decoder
$ rosrun kvaser GPS_tude_to_XY

Supporting Explanation

  • can_tx_to_raw : this node has a role converting /can_tx(real kvaser data) into /can_raw(important data among these).
  • can_Mobileye_Decoder : this node subscribe /can_raw topics and decode available information like Obstacle Number, Obstacle Position, Lane Distance from my vehicle etc.. thereafter Publish /Mobileye_new topic.
  • GPS_tude_to_XY : this node subscribe GPS data(latitude/longitude), CAN data(Mobileye/NiroCan), Lidar data(Point cloud data). Calculate using the data so that we get my vehicle&obstacle information and XY-coordinate which we can utilize on Uc-win Road.