Deep Orange DBW Controls Interface Package for Autonomous Driving

Functionality:

• DeepOrangeDbwCan.cpp: Enable passing the ROS topics to the Raptor DBW controller via SocketCAN, which executes the commands for the platform to move.
• VehicleModel.cpp: Use the vehicle dynamics model to convert vehicle velocity to left and right track velocity/torques.
• DbwSupervisor.cpp: A ROS state machine in sync with the Raptor controller state machine.
• TO DO: A node that Monitor health of sensors hardware and ROS connections to the on-board computer, and publishes health info to DbwSupervisor through ros_health topic.
• Implementation - Instantiates the three objects in a single node (as of now).

How to Use:

• To add/update CAN msg IDs- update these in the dbc in the dbc folder as well as dispatch_can_msgs.h include file
• Vehicle and subsystem states are enumerated in states_enum.h

Dependencies:

• can_dbc_parser: Developed by New Eagle as part of metapackage - https://github.com/NewEagleRaptor/raptor-dbw-ros
• deeporange13_msgs : Package for custom messages for DO13 DBW operation
• socketcan_bridge : Package for interfacing CAN to ROS on Linux - https://github.com/ros-industrial/ros_canopen
• can_msgs : Package to support CAN msg format on ROS topics. - https://github.com/ros-industrial/ros_canopen

Contributors:

• Prakhar Gupta (prakhag@clemson.edu)
• Program Manager/Maintainer: Chris Paredis (paredis@clemson.edu)