This is a ROS 2 driver for the gatevcu.
The driver consists of multiple ROS 2 packages. You need to create a workspace, pull the repo and install dependencies.
# Create a workspace
mkdir -p gatevcu_ws/src
# Go into the source directory
cd gatevcu_ws/src
# Clone the repo
git clone https://github.com/leo-drive/leodrive_gatevcu_driver.git
# or (depends on your GitHub authentication method)
git clone [email protected]:leo-drive/leodrive_gatevcu_driver.git
# Go to the workspace root directory
cd ..
# Import dependencies
vcs import src < src/leodrive_gatevcu_driver/gatevcu.repos
rosdep install --from-paths src --ignore-src -y -r
# Build the workspace
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo
# or
colbu_rdThere is a BASH script to launch the necessary ROS 2 packages and configure CAN network.
# Assuming you are inside the workspace directory
cd src/leodrive_gatevcu_driver/
./run_gatevcu.bash
# or
./run_gatevcu.bash --interface can1 --launch-joy false$ ./run_gatevcu.bash --help
Usage: ./run_gatevcu.bash [OPTIONS]
Activate a CAN interface and launch a ROS 2 command.
Options:
-h, --help Show this help message and exit
-i, --interface Name of the CAN interface (default: can0)
-b, --bitrate Bitrate of the CAN interface (default: 500000)
-j, --launch-joy Whether to launch joy stack or not (default: true)
After setting up the network interface, this script searches for the 'setup.bash' script
in parent directories recursively. Once found, it sources the 'setup.bash' script and
launches the 'ros2 launch leodrive_gatevcu_driver driver.launch.xml' command.
If you want to control the vehicle via gamepad, launch-joy must be enabled which is the default.
If you want to control the vehicle via publishing command messages to corresponding ROS 2 topics, you may disable it.
There is a config file inside the config directory of the leodrive_gatevcu_driver package. These parameters are
only used for gamepad.
| Parameter | Description | Default |
|---|---|---|
| joy_timeout | The duration to assume gamepad was lost in milliseconds | 100 |
| max_gas_pedal_pos | Maximum value of the gas pedal. | 100.0 |
| max_steering_angle | Maximum value of the steering angle. | 475.0 |
| steering_wheel_torque | Torque of the steering wheel. | 255 |
| enable_ramp | Whether to enable smooth steering. | true |
| steering_rate | Steering change rate for smooth steering. | 2.0 |
There are three ROS 2 topics to send various commands to the VCU.
| Topic | Message Type | Description |
|---|---|---|
/gatevcu/longitudinal |
leodrive_gatevcu_msgs/msg/Longitudinal |
Controls gas pedal and brake pedal. |
/gatevcu/steering_wheel |
leodrive_gatevcu_msgs/msg/SteeringWheel |
Controls steering angle and sets steering torque. |
/gatevcu/vehicle |
leodrive_gatevcu_msgs/msg/Vehicle |
Controls blinker, head_light, wiper, gear, mode, hand_brake, takeover_request, long_mode |
