pix_driver repository

pix_driver repository

pix_driver repository

Repository Summary

Checkout URI https://github.com/pixmoving-moveit/pix_driver.git
VCS Type git
VCS Version main
Last Updated 2024-04-10
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
pix_hooke_driver 0.9.0
pix_hooke_driver_msgs 0.9.0

README

Pix Chassis Interface

Overview

Pixmoving chassis are driving-by-wire/DbW chassis, which are compatible with self-driving systems. We had designed an interface for Autoware.universe.

Notice

For the source code, please refer to pix_driver.

Before you can use the interface, make sure you have already installed and launched ros2_socketcan in your workspace.

Role

There are three main functions for Pix Chasssis Interface:

  • Translation between CAN frames and pix_hooke_driver_msgs
  • Conversion of Autoware commands to pix_hooke_driver_msgs
  • Conversion of vehicle status in pix_hooke_driver_msgs to Autoware messages

Software Design

PixChassisInterfaceDesign

Control Command Node

Input

The input to Control Command Node

Input Topic(Data Type) Explanation
autonomous driving to vehicle drive control /pix_hooke/a2v_drivectrl_130
(pix_hooke_driver_msgs/msg/A2vDriveCtrl)
A2vDriveCtrl
autonomous driving to vehicle brake control /pix_hooke/a2v_brakectrl_131
(pix_hooke_driver_msgs/msg/A2vBrakeCtrl)
A2vBrakeCtrl
autonomous driving to vehicle steering control /pix_hooke/a2v_steerctrl_132
(pix_hooke_driver_msgs/msg/A2vSteerCtrl)
A2vSteerCtrl
autonomous driving to vehicle control /pix_hooke/a2v_vehiclectrl_133
(pix_hooke_driver_msgs/msg/A2vVehicleCtrl)
A2vVehicleCtrl
autonomous driving to vehicle motor control /pix_hooke/a2v_wheelctrl_135
(pix_hooke_driver_msgs/msg/A2vWheelCtrl)
A2vWheelCtrl

A2vDriveCtrl

The detailed contents in A2vDriveCtrl(self-driving to vehicle drive control) are as follows.

Content Data Type Explanation
header std_msgs/Header header
acu_chassis_driver_en_ctrl std_msgs/int8 enable/disable longitudinal acceleration contrl {0: 'ACU_CHASSISDRIVERENCTRL_DISABLE', 1: 'ACU_CHASSISDRIVERENCTRL_ENABLE'}
acu_chassis_driver_mode_ctrl std_msgs/int8 target control mode {0: 'ACU_CHASSISDRIVERMODECTRL_SPEED_CTRL_MODE', 1: 'ACU_CHASSISDRIVERMODECTRL_THROTTLE_CTRL_MODE', 2: 'ACU_CHASSISDRIVERMODECTRL_RESERVE', 3: 'ACU_CHASSISDRIVERMODECTRL_RESERVE'}
acu_chassis_gear_ctrl std_msgs/int8 target gear {0: 'ACU_CHASSISGEARCTRL_DEFAULT_N', 1: 'ACU_CHASSISGEARCTRL_D', 2: 'ACU_CHASSISGEARCTRL_N', 3: 'ACU_CHASSISGEARCTRL_R'}
acu_chassis_speed_ctrl std_msgs/float32 Target velocity [m/s]
acu_chassis_throttle_pdl_target std_msgs/float32 target accel pedal value 0.0-100.0

A2vBrakeCtrl

The detailed contents in A2vBrakeCtrl(self-driving to vehicle brake control) are as follows.

Content Data Type Explanation
header std_msgs/Header header
acu_chassis_brake_en std_msgs/int8 enable/disable longitudinal deacceleration contrl 0: 'ACU_CHASSISBRAKEEN_DISABLE', 1: 'ACU_CHASSISBRAKEEN_ENABLE'
acu_chassis_aeb_ctrl std_msgs/int8 enable/disable AEB 0: 'ACU_CHASSISAEBCTRL_DISABLE', 1: 'ACU_CHASSISAEBCTRL_ENABLE'
acu_chassis_brake_pdl_target std_msgs/float32 target brake pedal value 0.0-100.0
acu_chassis_epb_ctrl std_msgs/int8 parking brake control 0: 'ACU_CHASSISEPBCTRL_DEFAULT', 1: 'ACU_CHASSISEPBCTRL_BRAKE', 2: 'ACU_CHASSISEPBCTRL_RELEASE'

A2vSteerCtrl

The detailed contents in A2vSteerCtrl(self-driving to vehicle steering control) are as follows.

Content Data Type Explanation
header std_msgs/Header header
acu_chassis_steer_en_ctrl std_msgs/int8 enable/disable lateral/steering contrl {0: 'ACU_CHASSISSTEERENCTRL_DISABLE', 1: 'ACU_CHASSISSTEERENCTRL_ENABLE'}
acu_chassis_steer_mode_ctrl std_msgs/int8 steering mode {0: 'ACU_CHASSISSTEERMODECTRL_FRONT_ACKERMAN', 1: 'ACU_CHASSISSTEERMODECTRL_SAME_FRONT_AND_BACK', 2: 'ACU_CHASSISSTEERMODECTRL_FRONT_DIFFERENT_BACK', 3: 'ACU_CHASSISSTEERMODECTRL_BACK_ACKRMAN', 4: 'ACU_CHASSISSTEERMODECTRL_FRONT_BACK'}
acu_chassis_steer_angle_target std_msgs/int32 target steering angle, -500=500 left to right. When ACU_ChassisSteerModeCtrl=ACU_CHASSISSTEERMODECTRL_FRONT_BACK, ACU_ChassisSteerAngleTarget can only control front wheels
acu_chassis_steer_angle_rear_target std_msgs/int32 target rear steering angle. -500-500. Works only when ACU_ChassisSteerModeCtrl=ACU_CHASSISSTEERMODECTRL_FRONT_BACK
acu_chassis_steer_angle_speed_ctrl std_msgs/float32 target steering speed 0-500

A2vVehicleCtrl

The detailed contents in A2vVehicleCtrl(self-driving to vehicle Vehicle Control) are as follows.

Content Data Type Explanation
header std_msgs/Header header
acu_vehicle_pos_lamp_ctrl std_msgs/int8 positioning lamp contorl {0: 'ACU_VEHICLEPOSLAMPCTRL_OFF', 1: 'ACU_VEHICLEPOSLAMPCTRL_ON'}
acu_vehicle_head_lamp_ctrl std_msgs/int8 head lamp control {0: 'ACU_VEHICLEHEADLAMPCTRL_OFF', 1: 'ACU_VEHICLEHEADLAMPCTRL_ON'}
acu_vehicle_left_lamp_ctrl std_msgs/int8 left lamp control {0: 'ACU_VEHICLELEFTLAMPCTRL_OFF', 1: 'ACU_VEHICLELEFTLAMPCTRL_ON'}
acu_vehicle_right_lamp_ctrl std_msgs/int8 right lamp control {0: 'ACU_VEHICLERIGHTLAMPCTRL_OFF', 1: 'ACU_VEHICLERIGHTLAMPCTRL_ON'}
acu_vehicl_high_beam_ctrl std_msgs/int8 vehicle high beam control {0: 'ACU_VEHICLEHIGHBEAMCTRL_OFF', 1: 'ACU_VEHICLEHIGHBEAMCTRL_ON'}
acu_vehicle_fog_lamp_ctrl std_msgs/int8 fog lamp control {0: 'ACU_VEHICLEFOGLAMPCTRL_OFF', 1: 'ACU_VEHICLEFOGLAMPCTRL_ON'}
acu_vehicle_body_light_crtl std_msgs/int8 body light control {0: 'ACU_VEHICLEBODYLIGHTCTRL_OFF', 1: 'ACU_VEHICLEBODYLIGHTCTRL_ON'}
acu_vehicle_read_light_crtl std_msgs/int8 reading light control (reserved) {0: 'ACU_VEHICLEREADLIGHTCTRL_OFF', 1: 'ACU_VEHICLEREADLIGHTCTRL_ON'}
acu_vehicle_voice std_msgs/int8 vehicle voice control (reserved) {0: 'ACU_VEHICLEVOICE_OFF', 1: 'ACU_VEHICLEVOICE_TURN_LEFT', 2: 'ACU_VEHICLEVOICE_TURN_RIGHT', 3: 'ACU_VEHICLEVOICE_BACKWARD'}
acu_vehicle_wipers_crtl std_msgs/int8 wipers control (reserved) {0: 'ACU_VEHICLEWIPERSCTRL_OFF', 1: 'ACU_VEHICLEWIPERSCTRL_LOW', 2: 'ACU_VEHICLEWIPERSCTRL_MID', 3: 'ACU_VEHICLEWIPERSCTRL_HIGH'}
acu_vehicle_door_crtl std_msgs/int8 door control (reserved) {0: 'ACU_VEHICLEDOORCTRL_DEFAULT', 1: 'ACU_VEHICLEDOORCTRL_CLOSE', 2: 'ACU_VEHICLEDOORCTRL_OPEN'}
acu_vehicle_window_crtl std_msgs/int8 window control (reserved) {0: 'ACU_VEHICLEWINDOWCTRL_DEFAULT', 1: 'ACU_VEHICLEWINDOWCTRL_CLOSE', 2: 'ACU_VEHICLEWINDOWCTRL_OPEN'}
acu_chassis_speed_limite_mode std_msgs/int8 speed limit model {0: 'ACU_CHASSISSPEEDLIMITEMODE_DEFAULT', 1: 'ACU_CHASSISSPEEDLIMITEMODE_LIMIT'}
acu_chassis_speed_limite_val std_msgs/int32 velocity limit control m/s

A2vWheelCtrl

The detailed contents in A2vWheelCtrl(self-driving to vehicle motor control) are as follows.

Content Data Type Explanation
header std_msgs/Header header
acu_motor_torque_lf_crtl std_smgs/float32 left front motor torque control [Nm] -200.0-200.0
acu_motor_torque_rf_crtl std_smgs/float32 right front motor torque control [Nm] -200.0-200.0
acu_motor_torque_lr_crtl std_smgs/float32 left rear motor torque control [Nm] -200.0-200.0
acu_motor_torque_rr_crtl std_smgs/float32 right rear motor torque control [Nm] -200.0-200.0

Output

The ouputs of Control Command Node are can_msgs/Frame to Socket CAN Interface.

Output (to Autoware) Topic(Data Type) Explanation
can frame /to_can_bus
(can_msgs/msg/Frame)
control command in CAN Frams

Report Parser Node

Input

The inputs of Report Parser Node are can_msgs/Frame from Socket CAN Interface.

Input (from SocketCAN Interface) Topic(Data Type) Explanation
can frame /from_can_bus
(can_msgs/msg/Frame)
control command in CAN Frams

Output

The outputs of Report Parser Node

Output Topic(Data Type) Explanation
vehicle to autonomous driving drive status feedback /pix_hooke/v2a_drivestafb
(pix_hooke_driver_msgs/msg/V2aDriveStaFb)
V2aDriveStaFb
vehicle to autonomous driving brake status feedback /pix_hooke/v2a_brakestafb
(pix_hooke_driver_msgs/msg/V2aBrakeStaFb)
V2aBrakeStaFb
vehicle to autonomous driving steering status feedback /pix_hooke/v2a_steerstafb
(pix_hooke_driver_msgs/msg/V2aSteerStaFb)
V2aSteerStaFb
vehicle to autonomous driving vehicle working status feedback /pix_hooke/v2a_vehicleworkstafb
(pix_hooke_driver_msgs/msg/V2aVehicleWorkStaFb)
V2aVehicleWorkStaFb
vehicle to autonomous driving power status feedback /pix_hooke/v2a_powerstafb
(pix_hooke_driver_msgs/msg/V2aPowerStaFb)
V2aPowerStaFb
vehicle to autonomous driving vehicle status feedback /pix_hooke/v2a_vehiclestafb
(pix_hooke_driver_msgs/msg/V2aVehicleStaFb)
V2aVehicleStaFb
vehicle to autonomous driving vehicle fault status feedback /pix_hooke/v2a_vehiclefltsta
(pix_hooke_driver_msgs/msg/V2aVehicleFltSta)
V2aVehicleFltSta
vehicle to autonomous driving chassis wheel speed feedback /pix_hooke/v2a_chassiswheelrpmfb
(pix_hooke_driver_msgs/msg/V2aChassisWheelRpmFb)
V2aChassisWheelRpmFb
vehicle to autonomous driving tire pressure feedback /pix_hooke/v2a_chassiswheeltirepressfb
(pix_hooke_driver_msgs/msg/V2aChassisWheelTirePressFb)
V2aChassisWheelTirePressFb
vehicle to autonomous driving wheel angle feedback /pix_hooke/v2a_chassiswheelanglefb
(pix_hooke_driver_msgs/msg/V2aChassisWheelAngleFb)
V2aChassisWheelAngleFb

V2aDriveStaFb

The detailed contents in V2aDriveStaFb(vehicle to autonomous driving status feedback) are as follows.

Content Data Type Explanation
header std_msgs/Header header
vcu_chassis_driver_en_sta std_msgs/int8 drive enable status feedback {0: 'VCU_CHASSISDRIVERENSTA_DISABLE', 1: 'VCU_CHASSISDRIVERENSTA_ENABLE'}
vcu_chassis_diver_slopover std_msgs/int8 drive Slop-over status feedback {0: 'VCU_CHASSISDIVERSLOPOVER_NORMAL', 1: 'VCU_CHASSISDIVERSLOPOVER_OVER_SLOP'}
vcu_chassis_driver_mode_sta std_msgs/int8 drive mode feedback {0: 'VCU_CHASSISDRIVERMODESTA_SPEED_CTRL_MODE', 1: 'VCU_CHASSISDRIVERMODESTA_THROTTLE_CTRL_MODE', 2: 'VCU_CHASSISDRIVERMODESTA_RESERVE', 3: 'VCU_CHASSISDRIVERMODESTA_RESERVE'}
vcu_chassis_gear_fb std_msgs/int8 gear feedback {0: 'VCU_CHASSISGEARFB_NO_USE', 1: 'VCU_CHASSISGEARFB_D', 2: 'VCU_CHASSISGEARFB_N', 3: 'VCU_CHASSISGEARFB_R'}
vcu_chassis_speed_fb std_msgs/float32 speed feedback [m/s] -50.0-50.0
vcu_chassis_throttle_padl_fb std_msgs/float32 pedal value feedback 0.0-100.0
vcu_chassis_accceleration_fb std_msgs/float32 target accel pedal value [m/s2] -20.0-20.0

V2aBrakeStaFb

The detailed contents in V2aBrakeStaFb(vehicle to autonomous driving braking status feedback) are as follows.

Content Data Type Explanation
header std_msgs/Header header
vcu_chassis_brake_en_sta std_msgs/int8 braking enable status feedback {0: 'VCU_CHASSISBRAKEENSTA_DISABLE', 1: 'VCU_CHASSISBRAKEENSTA_ENABLE'}
vcu_vehicle_brake_lamp_fb std_msgs/int8 braking lamp status feedback {0: 'VCU_VEHICLEBRAKELAMPFB_OFF', 1: 'VCU_VEHICLEBRAKELAMPFB_ON'}
vcu_chassis_epb_fb std_msgs/int8 EPB/Parking Brake status feedback {0: 'VCU_CHASSISEPBFB_RELEASE', 1: 'VCU_CHASSISEPBFB_BRAKE', 2: 'VCU_CHASSISEPBFB_RELEASING', 3: 'VCU_CHASSISEPBFB_BRAKING'}
vcu_chassis_brake_padl_fb std_msgs/float32 braking pedal value feedback 0-100
vcu_aeb_en_sta_fb std_msgs/int8 AEB enable status feedback {0: 'VCU_AEBENSTAFB_OFF', 1: 'VCU_AEBENSTAFB_ON'}
vcu_aeb_trigger_sta_fb std_msgs/int8 AEB triggered status feedback {0: 'VCU_AEBTRIGGERSTAFB_OFF', 1: 'VCU_AEBTRIGGERSTAFB_AEB_TRIGGER'}

V2aSteerStaFb

The detailed contents in V2aSteerStaFb(vehicle to autonomous driving steering status feedback) are as follows.

Content Data Type Explanation
header std_msgs/Header header
vcu_chassis_steer_en_sta std_msgs/int8 steering control enable status feedback {0: 'VCU_CHASSISSTEERENSTA_DISABLE', 1: 'VCU_CHASSISSTEERENSTA_ENABLE'}
vcu_chassis_steer_slopover std_msgs/int8 steering slop-over status feedback {0: 'VCU_CHASSISSTEERSLOPOVER_NORMAL', 1: 'VCU_CHASSISSTEERSLOPOVER_OVER_SLOP'}
vcu_chassis_steer_work_mode std_msgs/int8 steering work mode feedback {0: 'VCU_CHASSISSTEERWORKMODE_MACHINE', 1: 'VCU_CHASSISSTEERWORKMODE_WIRE', 2: 'VCU_CHASSISSTEERWORKMODE_POWER'}
vcu_chassis_steer_mode_fb std_msgs/int8 steering mode feedback {0: 'VCU_CHASSISSTEERMODEFB_FRONT_ACKERMAN', 1: 'VCU_CHASSISSTEERMODEFB_SAME_FRONT_AND_BACK', 2: 'VCU_CHASSISSTEERMODEFB_FRONT_DIFFERENT_BACK', 3: 'VCU_CHASSISSTEERMODEFB_BACK_ACKRMAN', 4: 'VCU_CHASSISSTEERMODEFB_FRONT_BACK'}
vcu_chassis_steer_angle_fb std_msgs/int32 steering angle of front steering wheel [deg] -500-500
vcu_chassis_steer_angle_rear_fb std_msgs/int32 steering angle of rear steering wheel [deg] -500-500
vcu_chassis_steer_angle_speed_fb std_msgs/float32 angular speed of steering wheel [deg/s] 0-500

V2aVehicleWorkStaFb

The detailed contents in V2aVehicleWorkStaFb(vehicle to autonomous driving vehicle work status feedback) are as follows.

Content Data Type Explanation
header std_msgs/Header header
vcu_driving_mode_fb std_msgs/int8 vcu driving mode feedback {0: 'VCU_DRIVINGMODEFB_STANDBY', 1: 'VCU_DRIVINGMODEFB_SELF_DRIVING', 2: 'VCU_DRIVINGMODEFB_REMOTE', 3: 'VCU_DRIVINGMODEFB_MAN'}
vcu_chassis_power_sta_fb std_msgs/int8 power status feedback {0: 'VCU_CHASSISPOWERSTAFB_INIT', 1: 'VCU_CHASSISPOWERSTAFB_ON_ACC', 2: 'VCU_CHASSISPOWERSTAFB_READY', 3: 'VCU_CHASSISPOWERSTAFB_OFF'}
vcu_chassis_power_dc_sta std_msgs/int8 DC working status feedback {0: 'VCU_CHASSISPOWERDCSTA_OFF', 1: 'VCU_CHASSISPOWERDCSTA_ON', 2: 'VCU_CHASSISPOWERDCSTA_STANDBY'}
vcu_chassis_speed_limited_mode_fb std_msgs/int8 speed limit mode status feedback {0: 'VCU_CHASSISSPEEDLIMITEDMODEFB_DEFAULT', 1: 'VCU_CHASSISSPEEDLIMITEDMODEFB_LIMIT'}
vcu_chassis_power_limite_sta std_msgs/int8 power limit status feedback {0: 'VCU_CHASSISPOWERLIMITESTA_DEFAULT', 1: 'VCU_CHASSISPOWERLIMITESTA_LIMIT'}
vcu_sys_eco_mode std_msgs/int8 Eco mode feedback {0: 'VCU_SYSECOMODE_DEFAULT', 1: 'VCU_SYSECOMODE_ECO', 2: 'VCU_SYSECOMODE_SPORT'}
vcu_chassis_speed_limited_val_fb std_msgs/float32 speed limit feedback [m/s] 0.0-50.0
vcu_chassis_low_power_volt_sta std_msgs/float32 low-voltage/small battery voltage status feedback [V] 0-25
vcu_chassis_e_stop_sta_fb std_msgs/int8 E-stop status feedback {0: 'VCU_CHASSISESTOPSTAFB_NO', 1: 'VCU_CHASSISESTOPSTAFB_CHASSIS_ESTOP', 2: 'VCU_CHASSISESTOPSTAFB_REMOTE_ESTOP', 3: 'VCU_CHASSISESTOPSTAFB_CHASSIS_ERR_ESTOP'}
vcu_crash_front_sta std_msgs/int8 front crash status feedback {0: 'VCU_CRASHFRONTSTA_OFF', 1: 'VCU_CRASHFRONTSTA_COLLIDE'}
vcu_crash_rear_sta std_msgs/int8 rear crash status feedback {0: 'VCU_CRASHREARSTA_OFF', 1: 'VCU_CRASHREARSTA_COLLIDE'}
vcu_crash_left_sta std_msgs/int8 left crash status feedback {0: 'VCU_CRASHLEFTSTA_OFF', 1: 'VCU_CRASHLEFTSTA_COLLIDE'}
vcu_crash_right_sta std_msgs/int8 right crash status feedback {0: 'VCU_CRASHLEFTSTA_OFF', 1: 'VCU_CRASHLEFTSTA_COLLIDE'}
vcu_life std_msgs/int32 life cycle count 0-255
vcu_check_sum std_msgs/int32 check sum

V2aPowerStaFb

The detailed contents in V2aPowerStaFb(vehicle to autonomous driving power status feedback) are as follows.

Content Data Type Explanation
header std_msgs/Header header
vcu_chassis_bms_reserved_1 std_msgs/int32 reserved position
vcu_chassis_power_charge_sta std_msgs/int8 charging status feedback {0: 'VCU_CHASSISPOWERCHARGESTA_NO_CHARGE', 1: 'VCU_CHASSISPOWERCHARGESTA_CHARGE', 2: 'VCU_CHASSISPOWERCHARGESTA_CHARGE_FULL'}
vcu_chassis_power_charge_sock_sta std_msgs/int8 charging socket status feedback {0: 'VCU_CHASSISPOWERCHARGESOCKSTA_NO_CONNECT', 1: 'VCU_CHASSISPOWERCHARGESOCKSTA_CONNECT'}
vcu_chassis_power_soc_fb std_msgs/int32 power battery SOC feedback [%] 0-100
vcu_chassis_power_volt_fb std_msgs/float32 power battery voltage feedback [V] 0.0-1000.0
vcu_chassis_power_curr_fb std_msgs/float32 power battery current feedback [A] -1000.0-1000.0
vcu_chassis_bms_max_temp std_msgs/int32 BMX max temperature feedback [°C] -40-80
vcu_chassis_bms_reserved_2 std_msgs/int32 reserved position

V2aVehicleStaFb

The detailed contents in V2aVehicleStaFb(vehicle to autonomous driving vehicle status feedback) are as follows.

Content Data Type Explanation
header std_msgs/Header header
vcu_vehicle_pos_lamp_fb std_msgs/int8 Positioning lamp feedback {0: 'VCU_VEHICLEPOSLAMPFB_OFF', 1: 'VCU_VEHICLEPOSLAMPFB_ON'}
vcu_vehicle_head_lamp_fb std_msgs/int8 head lamp feedback {0: 'VCU_VEHICLEHEADLAMPFB_OFF', 1: 'VCU_VEHICLEHEADLAMPFB_ON'}
vcu_vehicle_left_lamp_fb std_msgs/int8 left lamp feedback {0: 'VCU_VEHICLELEFTLAMPFB_OFF', 1: 'VCU_VEHICLELEFTLAMPFB_ON'}
vcu_vehicle_right_lamp_fb std_msgs/int8 right lamp feedback {0: 'VCU_VEHICLERIGHTLAMPFB_OFF', 1: 'VCU_VEHICLERIGHTLAMPFB_ON'}
vcu_vehicle_high_beam_fb std_msgs/int8 high beam feedback {0: 'VCU_VEHICLEHIGHBEAMFB_OFF', 1: 'VCU_VEHICLEHIGHBEAMFB_ON'}
vcu_vehicle_fog_lamp_fb std_msgs/int8 fog lamp feedback {0: 'VCU_VEHICLEFOGLAMPFB_OFF', 1: 'VCU_VEHICLEFOGLAMPFB_ON'}
vcu_vehicle_hazard_war_lamp_fb std_msgs/int8 hazard warning lamp feedback {0: 'VCU_VEHICLEHAZARDWARLAMPFB_OFF', 1: 'VCU_VEHICLEHAZARDWARLAMPFB_ON'}
vcu_vehicle_body_lamp_fb std_msgs/int8 body lamp feedback {0: 'VCU_VEHICLEBODYLAMPFB_OFF', 1: 'VCU_VEHICLEBODYLAMPFB_ON'}
vcu_vehicle_read_lamp_fb std_msgs/int8 reading lamp feedback {0: 'VCU_VEHICLEREADLAMPFB_OFF', 1: 'VCU_VEHICLEREADLAMPFB_ON'}
acu_vehicle_window_fb std_msgs/int8 window feedback {0: 'ACU_VEHICLEWINDOWFB_INVALID', 1: 'ACU_VEHICLEWINDOWFB_OPENING', 2: 'ACU_VEHICLEWINDOWFB_CLOSING', 3: 'ACU_VEHICLEWINDOWFB_OPEN_INPLACE', 4: 'ACU_VEHICLEWINDOWFB_CLOSE_INPLACE', 5: 'ACU_VEHICLEWINDOWFB_OPEN_TIMEOUT', 6: 'ACU_VEHICLEWINDOWFB_CLOSE_TIMEOUT'}
vcu_vehicle_door_sta_fb std_msgs/int8 door status feedback {0: 'VCU_VEHICLEDOORSTAFB_INVALID', 1: 'VCU_VEHICLEDOORSTAFB_OPENING', 2: 'VCU_VEHICLEDOORSTAFB_CLOSING', 3: 'VCU_VEHICLEDOORSTAFB_OPEN_INPLACE', 4: 'VCU_VEHICLEDOORSTAFB_CLOSE_INPLACE', 5: 'VCU_VEHICLEDOORSTAFB_OPEN_TIMEOUT', 6: 'VCU_VEHICLEDOORSTAFB_CLOSE_TIMEOUT'}
vcu_vehicle_wipers_sta_fb std_msgs/int8 wiper status feedback {0: 'VCU_VEHICLEWIPERSSTAFB_OFF', 1: 'VCU_VEHICLEWIPERSSTAFB_LOW', 2: 'VCU_VEHICLEWIPERSSTAFB_MID', 3: 'VCU_VEHICLEWIPERSSTAFB_HIGH'}
vcu_vehicle_safety_belt_1 std_msgs/int8 safty belt 1 feedback {0: 'VCU_VEHICLESAFETYBELT1_NO', 1: 'VCU_VEHICLESAFETYBELT1_SIT', 2: 'VCU_VEHICLESAFETYBELT1_SAFETYBELT', 3: 'VCU_VEHICLESAFETYBELT1_UNKNOW_SENSOR_ERROR'}
vcu_vehicle_safety_belt_2 std_msgs/int8 safty belt 2 feedback {0: 'VCU_VEHICLESAFETYBELT2_NO', 1: 'VCU_VEHICLESAFETYBELT2_SIT', 2: 'VCU_VEHICLESAFETYBELT2_SAFETYBELT', 3: 'VCU_VEHICLESAFETYBELT2_UNKNOW_SENSOR_ERROR'}
vcu_vehicle_safety_belt_3 std_msgs/int8 safty belt 3 feedback {0: 'VCU_VEHICLESAFETYBELT3_NO', 1: 'VCU_VEHICLESAFETYBELT3_SIT', 2: 'VCU_VEHICLESAFETYBELT3_SAFETYBELT', 3: 'VCU_VEHICLESAFETYBELT3_UNKNOW_SENSOR_ERROR'}
vcu_vehicle_safety_belt_4 std_msgs/int8 safty belt 4 feedback {0: 'VCU_VEHICLESAFETYBELT4_NO', 1: 'VCU_VEHICLESAFETYBELT4_SIT', 2: 'VCU_VEHICLESAFETYBELT4_SAFETYBELT', 3: 'VCU_VEHICLESAFETYBELT4_UNKNOW_SENSOR_ERROR'}

V2aVehicleFltSta

The detailed contents in V2aVehicleFltSta(vehicle to autonomous driving vehicle fault feedback) are as follows.

Content Data Type Explanation
header std_msgs/Header header
vcu_sys_motor_over_temp_sta std_msgs/int8 motor system over-temperature status {0: 'VCU_SYSMOTOROVERTEMPSTA_NORMAL', 1: 'VCU_SYSMOTOROVERTEMPSTA_OVER_TEMP'}
vcu_sys_bms_over_temp_sta std_msgs/int8 BMS over-temperature status {0: 'VCU_SYSBMSOVERTEMPSTA_NORMAL', 1: 'VCU_SYSBMSOVERTEMPSTA_OVER_TEMP'}
vcu_sys_brake_over_temp_sta std_msgs/int8 braking system over-temperature status {0: 'VCU_SYSBRAKEOVERTEMPSTA_NORMAL', 1: 'VCU_SYSBRAKEOVERTEMPSTA_OVER_TEMP'}
vcu_sys_steer_over_temp_sta std_msgs/int8 steering system over-temperature status {0: 'VCU_SYSSTEEROVERTEMPSTA_NORMAL', 1: 'VCU_SYSSTEEROVERTEMPSTA_OVER_TEMP'}
vcu_sys_under_volt std_msgs/int8 battery low-voltage status {0: 'VCU_SYSUNDERVOLT_NORMAL', 1: 'VCU_SYSUNDERVOLT_UNDER_VOLT'}
vcu_sys_flt std_msgs/int8 system fault {0: 'VCU_SYSFLT_NORMAL', 1: 'VCU_SYSFLT_FAULT_LEVEL_1', 2: 'VCU_SYSFLT_FAULT_LEVEL_2', 3: 'VCU_SYSFLT_FAULT_LEVEL_3', 4: 'VCU_SYSFLT_FAULT_LEVEL_4'}
vcu_sys_brake_flt std_msgs/int8 braking system fault {0: 'VCU_SYSBRAKEFLT_NORMAL', 1: 'VCU_SYSBRAKEFLT_FAULT_LEVEL_1', 2: 'VCU_SYSBRAKEFLT_FAULT_LEVEL_2', 3: 'VCU_SYSBRAKEFLT_FAULT_LEVEL_3', 4: 'VCU_SYSBRAKEFLT_FAULT_LEVEL_4'}
vcu_sys_parking_flt std_msgs/int8 parking brake fault {0: 'VCU_SYSPARKINGFLT_NORMAL', 1: 'VCU_SYSPARKINGFLT_FAULT_LEVEL_1', 2: 'VCU_SYSPARKINGFLT_FAULT_LEVEL_2', 3: 'VCU_SYSPARKINGFLT_FAULT_LEVEL_3', 4: 'VCU_SYSPARKINGFLT_FAULT_LEVEL_4'}
vcu_sys_steer_front_flt std_msgs/int8 front steering system fault {0: 'VCU_SYSSTEERFRONTFLT_NORMAL', 1: 'VCU_SYSSTEERFRONTFLT_FAULT_LEVEL_1', 2: 'VCU_SYSSTEERFRONTFLT_FAULT_LEVEL_2', 3: 'VCU_SYSSTEERFRONTFLT_FAULT_LEVEL_3', 4: 'VCU_SYSSTEERFRONTFLT_FAULT_LEVEL_4'}
vcu_sys_steer_back_flt std_msgs/int8 rear steering system fault {0: 'VCU_SYSSTEERBACKFLT_NORMAL', 1: 'VCU_SYSSTEERBACKFLT_FAULT_LEVEL_1', 2: 'VCU_SYSSTEERBACKFLT_FAULT_LEVEL_2', 3: 'VCU_SYSSTEERBACKFLT_FAULT_LEVEL_3', 4: 'VCU_SYSSTEERBACKFLT_FAULT_LEVEL_4'}
vcu_sys_motor_lf_flt std_msgs/int8 left front motor fault {0: 'VCU_SYSMOTORLFFLT_NORMAL', 1: 'VCU_SYSMOTORLFFLT_FAULT_LEVEL_1', 2: 'VCU_SYSMOTORLFFLT_FAULT_LEVEL_2', 3: 'VCU_SYSMOTORLFFLT_FAULT_LEVEL_3', 4: 'VCU_SYSMOTORLFFLT_FAULT_LEVEL_4'}
vcu_sys_motor_rf_flt std_msgs/int8 right front motor fault {0: 'VCU_SYSMOTORRFFLT_NORMAL', 1: 'VCU_SYSMOTORRFFLT_FAULT_LEVEL_1', 2: 'VCU_SYSMOTORRFFLT_FAULT_LEVEL_2', 3: 'VCU_SYSMOTORRFFLT_FAULT_LEVEL_3', 4: 'VCU_SYSMOTORRFFLT_FAULT_LEVEL_4'}
vcu_sys_motor_lr_flt std_msgs/int8 left rear motor fault {0: 'VCU_SYSMOTORLRFLT_NORMAL', 1: 'VCU_SYSMOTORLRFLT_FAULT_LEVEL_1', 2: 'VCU_SYSMOTORLRFLT_FAULT_LEVEL_2', 3: 'VCU_SYSMOTORLRFLT_FAULT_LEVEL_3', 4: 'VCU_SYSMOTORLRFLT_FAULT_LEVEL_4'}
vcu_sys_motor_rr_flt std_msgs/int8 right rear motor fault {0: 'VCU_SYSMOTORRRFLT_NORMAL', 1: 'VCU_SYSMOTORRRFLT_FAULT_LEVEL_1', 2: 'VCU_SYSMOTORRRFLT_FAULT_LEVEL_2', 3: 'VCU_SYSMOTORRRFLT_FAULT_LEVEL_3', 4: 'VCU_SYSMOTORRRFLT_FAULT_LEVEL_4'}
vcu_sys_bms_flt std_msgs/int8 BMS fault {0: 'VCU_SYSBMSFLT_NORMAL', 1: 'VCU_SYSBMSFLT_FAULT_LEVEL_1', 2: 'VCU_SYSBMSFLT_FAULT_LEVEL_2', 3: 'VCU_SYSBMSFLT_FAULT_LEVEL_3', 4: 'VCU_SYSBMSFLT_FAULT_LEVEL_4'}
vcu_sys_dc_flt std_msgs/int8 DC system fault {0: 'VCU_SYSDCFLT_NORMAL', 1: 'VCU_SYSDCFLT_FAULT_LEVEL_1', 2: 'VCU_SYSDCFLT_FAULT_LEVEL_2', 3: 'VCU_SYSDCFLT_FAULT_LEVEL_3', 4: 'VCU_SYSDCFLT_FAULT_LEVEL_4'}

V2aChassisWheelRpmFb

The detailed contents in V2aChassisWheelRpmFb(vehicle to autonomous driving vehicle wheel speed feedback) are as follows.

Content Data Type Explanation
header std_msgs/Header header
vcu_chassis_wheel_rpm_lf std_msgs/int32 left front motor speed [rpm] -2000-2000
vcu_chassis_wheel_rpm_rf std_msgs/int32 right front motor speed [rpm] -2000-2000
vcu_chassis_wheel_rpm_lr std_msgs/int32 left rear motor speed [rpm] -2000-2000
vcu_chassis_wheel_rpm_rr std_msgs/int32 right rear motor speed [rpm] -2000-2000

V2aChassisWheelTirePressFb

The detailed contents in V2aChassisWheelTirePressFb(vehicle to autonomous driving tire pressure feedback) are as follows.

Content Data Type Explanation
header std_msgs/Header header
vcu_chassis_wheel_tire_press_lf std_msgs/float32 left front tire pressure [bar] 0.0-20.0
vcu_chassis_wheel_tire_press_rf std_msgs/float32 right front tire pressure [bar] 0.0-20.0
vcu_chassis_wheel_tire_press_lr std_msgs/float32 left rear tire pressure [bar] 0.0-20.0
vcu_chassis_wheel_tire_press_rr std_msgs/float32 right rear tire pressure [bar] 0.0-20.0

V2aChassisWheelAngleFb

The detailed contents in V2aChassisWheelAngleFb(vehicle to autonomous driving steering wheel angle feedback) are as follows.

Content Data Type Explanation
header std_msgs/Header header
vcu_chassis_wheel_angle_lf std_msgs/float32 left front steering angle [deg] -90|90
vcu_chassis_wheel_angle_rf std_msgs/float32 right front steering angle [deg] -90|90
vcu_chassis_wheel_angle_lr std_msgs/float32 left rear steering angle [deg] -90|90
vcu_chassis_wheel_angle_rr std_msgs/float32 right rear steering angle [deg] -90|90

Control Converter Node

Input

Input (from Autoware and vehicle feedback) Topic(Data Type) Explanation
raw vehicle command /control/command/actuation_cmd
(tier4_vehicle_msgs/msg/ActuationCommandStamped)
raw vehicle command from autoware including Throttle pedal and Braking Pedal
gear command /control/command/gear_cmd
(autoware_auto_vehicle_msgs/msg/GearCommand)
gear command from Autoware Shift Decider
drive status feedback /pix_hooke/v2a_drivestafb
(V2aDriveStaFb)
needs gear status feedback in order to set velocity as 0 when it needs to shift

Output

Output (to Control Command Node) Topic(Data Type) Explanation
autonomous driving to vehicle drive control /pix_hooke/a2v_drivectrl_130
(A2vDriveCtrl)
 
autonomous driving to vehicle brake control /pix_hooke/a2v_brakectrl_131
(A2vBrakeCtrl)
 
autonomous driving to vehicle steering control /pix_hooke/a2v_steerctrl_132
(A2vSteerCtrl)
 
autonomous driving to vehicle control /pix_hooke/a2v_vehiclectrl_133
(A2vVehicleCtrl)
 

Report Converter Node

Input

Input (from Report Parser Node ) Topic(Data Type) Explanation
vehicle to autonomous driving drive status feedback /pix_hooke/v2a_drivestafb
(pix_hooke_driver_msgs::msg::V2aDriveStaFb)
 
vehile eto autonomous driving brake status feedback /pix_hooke/v2a_brakestafb
(pix_hooke_driver_msgs/msg/V2aBrakeStaFb)
 
vehicle to autonomous driving steering status feedback /pix_hooke/v2a_steerstafb
(pix_hooke_driver_msgs/msg/V2aSteerStaFb)
 
vehicle to autonomous driving vehicle working status feedback /pix_hooke/v2a_vehicleworkstafb
(pix_hooke_driver_msgs::msg::V2aVehicleWorkStaFb)
 
vehicle to autonomous driving vehicle status feedback /pix_hooke/v2a_vehiclestafb
(pix_hooke_driver_msgs::msg::V2aVehicleStaFb)
 

Output

Output (to Autoware) Topic(Data Type) Explanation
control mode status /vehicle/status/control_mode
(autoware_auto_vehicle_msgs/msg/ControlModeReport)
vehicle contol mode states to Autoware
velocity status /vehicle/status/velocity_status
(autoware_auto_vehicle_msgs/msg/ControlModeReport)
vehicle lateral and longitudinal velocity status to Autoware [m/s]
steering status /vehicle/status/steering_status
(autoware_auto_vehicle_msgs/msg/SteeringReport)
vehicle steering tire angle status to Autoware [rad]
Shift status /vehicle/status/gear_status
(autoware_auto_vehicle_msgs/msg/GearReport)
vehicle shift to Autoware [-]
Turn indicators status /vehicle/status/turn_indicators_status
(autoware_auto_vehicle_msgs/msg/TurnIndicatorsReport)
vehicle turn indicators status to Autoware [-]
hazard lights status /vehicle/status/hazard_lights_status
(autoware_auto_vehicle_msgs::msg::HazardLightsReport)
vehicle hazard lights status to Autoware [-]
actuation status /vehicle/status/actuation_status
tier4_vehicle_msgs/msg/ActuationStatusStamped
accel, brake and steer status to Autoware for vehicle calibration [0-100]

Reference

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