T-14 ROS bridge

ROS bridge to the T-14 car. Useful to perform data collection.

Requirements

• ROS 2 Humble
• Python
  • python-can
• SocketCAN

Setup

Note: place your configuration file on the docs subdirectory.

Parameters

• can_channel: name of the CAN interface. Default: can0
• can_bustype: type of CAN interface being used on the host. Only SocketCAN was tested, use at your own risk. Default: socketcan
• read_period: period in seconds between CAN readings. Default: 0.02
• config_path: path to the configuration file. Check the example provided. Default: docs/ids.json

Subscribers

None

Publishers

• ackermann: Ackermann state (only drive speed and steering angle are populated) (ackermann_msgs/AckermannDriveStamped)
• right_wheels_speed: Speed measured on the right wheels (std_msgs/Float32)
• left_wheels_speed: Speed measured on the left wheels (std_msgs/Float32)
• drive_speed: Measured drive speed (std_msgs/Float32)
• gnd_speed: Measured ground speed (std_msgs/Float32)

Running

Docker

• Build the container docker build -t t14_ros_bridge ..
• Connect the CAN interface and check to which USB port it is connected to. You can use dmesg to check that. From now on, /dev/ttyUSB0 is considered.
• Run the container docker run --rm -it --privileged --device=/dev/ttyUSB0 t14_ros_bridge.