YMC

The controller package for vehicles manufactured by Yamaha Motor Co., Ltd.

g30esli_interface

Yamaha Golfcar Academic Pack version of G30Es-Li has the By-wire ECU based on CAN communication. CAN message format is private, so we provide CAN communication and parsing functions as a binary g30esli.a in ymc package.

This node has two modes and some condition of transition as in this figure. If you press throttle or brake pedal, By-wire mode is forced to transition to Manual Mode (override function).

• Control Mode: If you use a joystick, the command to a vehicle is able to be selected.
  • Autoware Mode: CAN commands are generated following /vehicle_cmd topic.
  • Joystick Mode: CAN commands are generated following /ds4 topic.
• By-wire Mode: You can change to enable/disable By-wire mode.
  • Auto Mode: A vehicle allows to be controlled by CAN commands.
  • Manual Mode: You can drive as usual.

How to Use

1. Confirm safety around your vehicle.

2. Launch Autoware nodes and check to correctly provide /vehicle_cmd topic.

3. Connect and setup CAN interface. (NOTE: We generally use PEAK System PCAN-USB)

$ rosrun ymc canset up canX

4-1. Launch g30esli_interface node.

$ roslaunch ymc g30esli_interface.launch device:=canX

And then your car should move by vehicle_cmd topic.

4-2. If you want to use DS4 joystick, launch with use_ds4 option and connect your joystick controller.

$ roslaunch ymc g30esli_interface.launch device:=canX use_ds4:=true ds4_wired:=true   ## USB

or

$ roslaunch ymc g30esli_interface.launch device:=canX use_ds4:=true ds4_wired:=false  ## Bluetooth

And then, your car should move by joystick controller. For controlling by vehicle_cmd, press PS button.

DS4 Button Binding

| Button | Description | | — | — | | CROSS | Send speed ( 3 <= v <= 19 [km/h] ), change to JOYSTICK mode | | SQUARE | Smooth brake, change to JOYSTICK mode | | CIRCLE | Semi-emergency brake | | TRIANGLE | Emergency brake | | R1 | Reverse shift | | L1 | Neutral shift | | R2 | Change speed linearly ( v = 16 * R2 + 3 [km/h] ) | | L2 | Change max steering linearly ( theta = (17 * L2 + 20) * ANALOG_L [deg] ) | | ANALOG_L | Steering angle ( -37 <= theta <= +37 [deg] ) | | DIGITAL_UP / LEFT / RIGHT / DOWN | Blinker clear / left / right / hazard | | SHARE | Engage vehicle | | OPTION | Disengage vehicle | | PS | change to AUTO mode |

Please see ds4 package to know installation and details.

Parameters

Subscriptions/Publications

Node [/g30esli_interface]
Publications:
 * /vehicle/battery [std_msgs/Float32]
 * /vehicle/twist [geometry_msgs/TwistStamped]
 * /vehicle_status [autoware_msgs/VehicleStatus]

Subscriptions:
 * /vehicle/engage [std_msgs/Bool]
 * /vehicle_cmd [autoware_msgs/VehicleCmd]

Changelog for package ymc

1.11.0 (2019-03-21)

• [fix] Install commands for all the packages (#1861)
  • Initial fixes to detection, sensing, semantics and utils
  • fixing wrong filename on install command
  • Fixes to install commands
  • Hokuyo fix name
  • Fix obj db
  • Obj db include fixes
  • End of final cleaning sweep
  • Incorrect command order in runtime manager
  • Param tempfile not required by runtime_manager
  • • Fixes to runtime manager install commands
  • Remove devel directory from catkin, if any
  • Updated launch files for robosense
  • Updated robosense
  • Fix/add missing install (#1977)
  • Added launch install to lidar_kf_contour_track
  • Added install to op_global_planner
  • Added install to way_planner
  • Added install to op_local_planner
  • Added install to op_simulation_package
  • Added install to op_utilities
  • Added install to sync
  • • Improved installation script for pointgrey packages
  • Fixed nodelet error for gmsl cameras
  • USe install space in catkin as well
  • add install to catkin
  • Fix install directives (#1990)
  • Fixed installation path
  • Fixed params installation path
  • Fixed cfg installation path
  • Delete cache on colcon_release
• Fix license notice in corresponding package.xml
• Contributors: Abraham Monrroy Cano, amc-nu

1.10.0 (2019-01-17)

• Fixes for catkin_make
• Switch to Apache 2 license (develop branch) (#1741)
  • Switch to Apache 2

  * Replace BSD-3 license header with Apache 2 and reassign copyright to the Autoware Foundation.

  • Update license on Python files
  • Update copyright years
  • Add #ifndef/define _POINTS_IMAGE_H_
  • Updated license comment
• Use colcon as the build tool (#1704)
  • Switch to colcon as the build tool instead of catkin
  • Added cmake-target
  • Added note about the second colcon call
  • Added warning about catkin* scripts being deprecated
  • Fix COLCON_OPTS
  • Added install targets
  • Update Docker image tags
  • Message packages fixes
  • Fix missing dependency
• Add steering offset parameter
• Add catkin dependency
• Apply clang-format
• Replace twist_cmd -> vehicle_cmd on ymc interface
• Contributors: Akihito Ohsato, Esteve Fernandez, amc-nu

1.9.1 (2018-11-06)

1.9.0 (2018-10-31)

1.8.0 (2018-08-31)

• [Fix] Moved C++11 flag to autoware_build_flags (#1395)
• [Feature] Makes sure that all binaries have their dependencies linked (#1385)
• [Feature] Cross compile Autoware for aarch64 (#1375)
• [Fix] Extend and Update interface.yaml (#1291)
• Contributors: Esteve Fernandez, Kenji Funaoka

1.7.0 (2018-05-18)

• update Version from 1.6.3 to 1.7.0 in package.xml and CHANGELOG.rst
• [fix] Fixes for all packages and dependencies (#1240)
  • Initial Cleanup
  • fixed also for indigo
  • kf cjeck
  • Fix road wizard
  • Added travis ci
  • Trigger CI
  • Fixes to cv_tracker and lidar_tracker cmake
  • Fix kitti player dependencies
  • Removed unnecessary dependencies
  • messages fixing for can
  • Update build script travis
  • Travis Path
  • Travis Paths fix
  • Travis test
  • Eigen checks
  • removed unnecessary dependencies
  • Eigen Detection
  • Job number reduced
  • Eigen3 more fixes
  • More Eigen3
  • Even more Eigen
  • find package cmake modules included
  • More fixes to cmake modules
  • Removed non ros dependency
  • Enable industrial_ci for indidog and kinetic
  • Wrong install command
  • fix rviz_plugin install
  • FastVirtualScan fix
  • Fix Qt5 Fastvirtualscan
  • Fixed qt5 system dependencies for rosdep
  • NDT TKU Fix catkin not pacakged
  • More in detail dependencies fixes for more packages
  • GLEW library for ORB
  • Ignore OrbLocalizer
  • Ignore Version checker
  • Fix for driveworks interface
  • driveworks not catkinpackagedd
  • Missing catkin for driveworks
  • libdpm opencv not catkin packaged
  • catkin lib gnss not included in obj_db
  • Points2Polygon fix
  • More missing dependencies
  • image viewer not packaged
  • Fixed SSH2 detection, added viewers for all distros
  • Fix gnss localizer incorrect dependency config
  • Fixes to multiple packages dependencies
  • gnss plib and package
  • More fixes to gnss
  • gnss dependencies for gnss_loclaizer
  • Missing gnss dependency for gnss on localizer

  * More fixes for dependencies Replaced gnss for autoware_gnss_library

  • gnss more fixes
  • fixes to more dependencies
  • header dependency
  • Debug message
  • more debug messages changed back to gnss
  • debud messages
  • gnss test
  • gnss install command
  • Several fixes for OpenPlanner and its lbiraries
  • Fixes to ROSInterface
  • More fixes to robotsdk and rosinterface
  • robotsdk calibration fix
  • Fixes to rosinterface robotsdk libraries and its nodes
  • Fixes to Qt5 missing dependencies in robotsdk
  • glviewer missing dependencies
  • Missing qt specific config cmake for robotsdk
  • disable cv_tracker
  • Fix to open planner un needed dependendecies
  • Fixes for libraries indecision maker
  • Fixes to libraries decision_maker installation
  • Gazebo on Kinetic
  • Added Missing library
  • • Removed Gazebo and synchonization packages
  • Renames vmap in lane_planner
  • Added installation commands for missing pakcages
  • Fixes to lane_planner
  • Added NDT TKU Glut extra dependencies

  * ndt localizer/lib fast pcl fixes re enable cv_tracker

  • Fix kf_lib
  • Keep industrial_ci
  • Fixes for dpm library
  • Fusion lib fixed
  • dpm and fusion header should match exported project name
  • Fixes to dpm_ocv ndt_localizer and pcl_omp
  • no fast_pcl anymore
  • fixes to libdpm and its package
  • CI test
  • test with native travis ci
  • missing update for apt
  • Fixes to pcl_omp installation and headers
  • Final fixes for tests, modified README
  • • Fixes to README
  • Enable industrial_ci
  • re enable native travis tests
• Contributors: Abraham Monrroy, Kosuke Murakami

1.6.3 (2018-03-06)

1.6.2 (2018-02-27)

• Update CHANGELOG
• Contributors: Yusuke FUJII

1.6.1 (2018-01-20)

• update CHANGELOG
• Contributors: Yusuke FUJII

1.6.0 (2017-12-11)

• Prepare release for 1.6.0
• add support ymc_can on aarch64
• fix build error on aarch64
• Change output from screen to log
• fix linking library
• Ensure compatibility of proprietary lib
• Add G30ESLi interface
• Contributors: TomohitoAndo, Yamato ANDO, Yusuke FUJII

1.5.1 (2017-09-25)

1.5.0 (2017-09-21)

1.4.0 (2017-08-04)

1.3.1 (2017-07-16)

1.3.0 (2017-07-14)

1.2.0 (2017-06-07)

1.1.2 (2017-02-27 23:10)

1.1.1 (2017-02-27 22:25)

1.1.0 (2017-02-24)

1.0.1 (2017-01-14)

1.0.0 (2016-12-22)