(Twizy) Ensure Vehicle Interface publishes to Autoware - Githubissues

Monash-Connected-Autonomous-Vehicle / autoware

Autoware - the world's leading open-source software project for autonomous driving

https://www.autoware.org/

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(Twizy) Ensure Vehicle Interface publishes to Autoware #38

Open dtonda8 opened 3 months ago

dtonda8 commented 3 months ago

x2-3 people
[x] Create a new git branch, publish-to-autoware, which branches from the ackermann git branch
- We'll merge back to ackermann after some testing with ua-leads

Ensure Vehicle Interface (in ackermann branch) publishes to necessary topics:

[ ] /vehicle/status/battery_charge
[ ] /vehicle/status/control_mode *
[ ] /vehicle/status/gear_status
[ ] /vehicle/status/hazard_lights_status
[ ] /vehicle/status/turn_indicators_status
[ ] /vehicle/status/steering_status *
[ ] /vehicle/status/velocity_status *
Asterisks marks the important topics to publish to

Key Details

Creating vehicle interface details what to publish to each topic (scroll to second table)
For now will ignore subscription since we're already subscribing to the main topics (if you're curious see this)
Some features cannot be published to if the Vehicle Interface doesn't have access
You might need tweak the CAN Bus reading for statuses
SD-VehicleInterface Docs
Use ros2 topic echo to check if messages are actually published