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Repository Summary
| Description | generate ROS/ROS2 node based on DBC files |
| Checkout URI | https://github.com/pixmoving-moveit/vehicle_ros_driver_generator.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2023-05-10 |
| Dev Status | UNKNOWN |
| 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
No packages found.
README
Vehicle ROS Driver Generator
Overview
This tool was inspired by the Gen Vehicle Protocol Tool in Apollo. We modified this tool for ROS/ROS2 driver generation according to the DBC file of vehicles.
Tool Framework
-
gen.py: main code, uses other libraries, createpix_{car_type}_driverandpix_{car_type}_driver_msgs -
extract_dbc_meta.py: decodes DBC file then creates yml file for easy use of canbus protocol -
gen_msg_file.py: generates msg ROS package, according to the yml file of canbus protocol -
gen_protocols.py: generates c++ header files and source files for canbus protocol, according to the yml file of cnabus protocol -
gen_ros_node.py: generates the ROS nodes ofcontrol_commandandreport_parser -
gen_config_file.py: generatesCMakeLists.txtandpackages.xmlfiles
HOW TO USE
Notice: The names of CAN frames and the names of variables in CAN frames should be camel case like below.
BO_ 1330 SteerStaFb: 8 VCU
SG_ ChassisSteerEnSta : 0|1@1+ (1,0) [0|1] "" ACU
SG_ ChassisSteerSlopover : 1|1@1+ (1,0) [0|1] "" ACU
SG_ ChassisSteerWorkMode : 2|2@1+ (1,0) [0|3] "" ACU
SG_ ChassisSteerModeFb : 4|4@1+ (1,0) [0|15] "" VCU
SG_ ChassisSteerAngleFb : 8|16@1- (1,0) [-500|500] "deg" ACU
SG_ ChassisSteerAngleRearFb : 24|16@1- (1,0) [-500|500] "deg" ACU
SG_ ChassisSteerAngleSpeedFb : 40|8@1+ (2,0) [0|500] "deg/s" ACU
1. copy the DBC file of your vehicle to config folder, for example pixmocing.dbc, for example pix_moving_conf.yml
dbc_file: pixmoving.dbc # DBC file
protocol_conf: pixmoving.yml # generated canbus protocol file
car_type: hooke # name of vehicle, if it is hooke, the generated packages should be 'pix_hooke_driver` and `pix_hooke_driver_msgs`
sender_list: [DriveCtrl, BrakeCtrl, SteerCtrl, VehicleCtrl, WheelCtrl] # name of CAN Frames that be sent to vehicle
sender: ACU # name of sender
black_list: []
output_dir: output # output directory
config_dir: config/ # config file directory
3. run gen.py
run code
python3 gen.py config/pixmoving_conf.yml
if success, you will see the output below
Extract car_type:HOOKE's protocol meta info to file: config/pixmoving.yml
Total parsed protocols: 15
Control protocols: 5
Report protocols: 10
Generating protocols
Generating canID node cpp
9
Generating canID Config file
['drive_ctrl', 'brake_ctrl', 'steer_ctrl', 'vehicle_ctrl', 'wheel_ctrl']
4. Auto-generated code
the structure of auto-generated code are shown below.
├── pix_hooke_driver
│ ├── CMakeLists.txt
│ ├── include
│ │ └── pix_hooke_driver
│ │ ├── Byte.hpp
│ │ ├── brake_ctrl.hpp
│ │ ├── brake_sta_fb.hpp
│ │ ├── chassis_wheel_angle_fb.hpp
│ │ ├── chassis_wheel_rpm_fb.hpp
│ │ ├── chassis_wheel_tire_press_fb.hpp
│ │ ├── control_command.hpp
│ │ ├── drive_ctrl.hpp
│ │ ├── drive_sta_fb.hpp
│ │ ├── power_sta_fb.hpp
│ │ ├── report_parser.hpp
│ │ ├── steer_ctrl.hpp
│ │ ├── steer_sta_fb.hpp
│ │ ├── vehicle_ctrl.hpp
│ │ ├── vehicle_flt_sta.hpp
│ │ ├── vehicle_sta_fb.hpp
│ │ ├── vehicle_work_sta_fb.hpp
│ │ └── wheel_ctrl.hpp
│ ├── package.xml
│ └── src
│ ├── Byte.cc
│ ├── brake_ctrl.cc
│ ├── brake_sta_fb.cc
│ ├── chassis_wheel_angle_fb.cc
│ ├── chassis_wheel_rpm_fb.cc
│ ├── chassis_wheel_tire_press_fb.cc
│ ├── control_command.cpp
│ ├── control_command_node.cpp
│ ├── drive_ctrl.cc
│ ├── drive_sta_fb.cc
│ ├── power_sta_fb.cc
│ ├── report_parser.cpp
│ ├── report_parser_node.cpp
│ ├── steer_ctrl.cc
│ ├── steer_sta_fb.cc
│ ├── vehicle_ctrl.cc
│ ├── vehicle_flt_sta.cc
│ ├── vehicle_sta_fb.cc
│ ├── vehicle_work_sta_fb.cc
│ └── wheel_ctrl.cc
└── pix_hooke_driver_msgs
├── CMakeLists.txt
├── msg
│ ├── BrakeCtrl.msg
│ ├── BrakeStaFb.msg
│ ├── ChassisWheelAngleFb.msg
│ ├── ChassisWheelRpmFb.msg
│ ├── ChassisWheelTirePressFb.msg
│ ├── DriveCtrl.msg
│ ├── DriveStaFb.msg
│ ├── PowerStaFb.msg
│ ├── SteerCtrl.msg
│ ├── SteerStaFb.msg
│ ├── VehicleCtrl.msg
│ ├── VehicleFltSta.msg
│ ├── VehicleStaFb.msg
│ ├── VehicleWorkStaFb.msg
│ └── WheelCtrl.msg
└── package.xml
7 directories, 57 files
CONTRIBUTING
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