(ENV200) Fine-tuning Vehicle Interface

[dtonda8]

Prerequisites:

• Basic understanding/experience with ROS: Try out the simple publisher & subscriber in C++
• Basic understanding of C++: Chapters 1-2 of learncpp.com should suffice
• MCAV's Streetdrone Vehicle Interface Docs

Basic outline of steps:

• [ ] Check if you can read CAN data (follow Reading CAN notion docs)
• [ ] Create a branch of our ackermann (since you'll probably modify some parts of the code
• [ ] Understand program, in particular, the CalculateTorqueRequestEnv200 and compare it with the CalculateTorqueRequestTwizy
• [ ] Test Publish Autoware messages. You can use our ackermann controller with something like ros2 run twist_controller twist_controller.py
• [ ] Appropriately tune the calculate torque request function, using similar ideas to what we did with the twizy

Lmk if you need assistance. Post updates/logs, helpful resources and anything else useful on this GitHub Issue.

Skills: C++, CAN & ROS

[dtonda8]

From these docs:

Try running this:

sudo modprobe peak_usb
sudo ip link set can0 up type can bitrate 500000

To set up can0

Then try reading the can with:

candump can0

If you're getting a large output → can is working. But if it's not outputing anything then there's another issue. Let's us know what you get.

[jin-ramen]

Issues on entering autonomous mode

[dtonda8]

This might be useful (from page 6):

It's still on manual mode. Does turning the switch left and right change anything?

https://imgur.com/a/uyMbszU