autoware 代码阅读 sensor
autoware 代码阅读 sensor
Read Code
- follow sensor data flow
- focus on sensor type，driver,data processing，ros topic
1.GNNS sensing>drivers>GNNS
1.1 driver basic
ROS driver to parse NMEA strings and publish standard ROS NavSat message types. Does not require the GPSD daemon to be running. http://wiki.ros.org/nmea_navsat_driver
Supported GPS Devices: http://wiki.ros.org/nmea_navsat_driver/SupportedHardware
Venus | Venus634LPx | Yes | GGA, GSA, RMC | SBAS | works |
|---|---|---|---|---|---|
Garmin | GPS 18x | Yes | GGA, GSA, RMC | SBAS | works |
1.2 node and topic ,data flow
- nmea_topic_serial_reader :
Reads NMEA sentences from the specified serial port and publishes them to a ROS topic.
Published Topics:
nmea_sentence (nmea_msgs/Sentence) :
A single time-stamped NMEA sentence captured from the serial device
Parameters:
port (string, default: /dev/ttyUSB0)
The device path
baud (int, default: 4800)
The baud rate to receive NMEA data.
frame_id (string, default: gps)
The frame_id for the header of the nmea_msgs/Sentence and output message.
Will be resolved with tf_prefix if defined.- nmea_serial_driver: NMEA GPS Serial driver node.
NMEA GPS Serial driver node.
Published Topics:
fix (sensor_msgs/NavSatFix)
GPS position fix reported by the device.
This will be published with whatever positional and status data was available
even if the device doesn't have a valid fix. Invalid fields may contain NaNs.
vel (geometry_msgs/TwistStamped)
Velocity output from the GPS device.
Only published when the device outputs valid velocity information.
The driver does not calculate the velocity based on only position fixes.
time_reference (sensor_msgs/TimeReference)
The timestamp from the GPS device is used as the time_ref.
Parameters:
~port (string, default: /dev/ttyUSB0)
The device path
~baud (int, default: 4800)
The baud rate to receive NMEA data.
~frame_id (string, default: gps)
The frame_id for the header of the sensor_msgs/NavSatFix and geometry_msgs/TwistStamped output messages.
Will be resolved with tf_prefix if defined.
~time_ref_source (string, default: <the value of ~frame_id>)
The value to use as the source in the sensor_msgs/TimeReference.
~useRMC (bool, default: False)
Whether to generate position fixes from GGA sentences or RMC sentences.- nmea_topic_driver
NMEA GPS Topic driver node. Reads NMEA sentences from a ROS topic instead of directly from e.g. a serial port.
Subscribed Topics
nmea_sentence (nmea_msgs/Sentence)
NMEA sentences, 1 per message.
These sentences do not have to be checksummed or otherwise validated before reaching the driver.
Published Topics:
fix (sensor_msgs/NavSatFix)
GPS position fix reported by the device.
This will be published with whatever positional and status data was available even if the device doesn't have a valid fix.
Invalid fields may contain NaNs.
vel (geometry_msgs/TwistStamped)
Velocity output from the GPS device. Only published when the device outputs valid velocity information.
The driver does not calculate the velocity based on only position fixes.
time_reference (sensor_msgs/TimeReference)
The timestamp from the GPS device is used as the time_ref.1.3 into code
nmea_navsat is just source file fork from github.useless.
dive into javad_navsat_driver :
1.3.1 lauch file
<launch>
<arg name="port" default="/dev/ttyUSB0"/>
<arg name="baud" default="57600" />
<arg name="enable_file" default="$(find javad_navsat_driver)/cfg/enable.cfg"/>
<arg name="disable_file" default="$(find javad_navsat_driver)/cfg/disable.cfg"/>
<!-- HOW TO RUN using rosrun:-->
<!-- rosrun nmea_navsat_driver nmea_topic_serial_driver _port:=/dev/ttyUSB0 _baud:=57600 -->
<!-- rosrun nmea_navsat_driver nmea_topic_driver -->
<!--read sentence and publish topic-->
<node pkg="javad_navsat_driver" type="javad_topic_serial_reader" name="javad_topic_serial_reader" output="log">
<param name="port" value="$(arg port)" />
<param name="baud" value="$(arg baud)" />
<param name="enable_file" value="$(arg enable_file)" />
<param name="disable_file" value="$(arg disable_file)" />
</node>
<!--subscribe topic-->
<node pkg="javad_navsat_driver" type="javad_topic_driver" name="javad_topic_driver">
</node>
</launch>start two nodes: javad_topic_serial_reader and javad_topic_driver
set Parameters :port,baud
1.3.2 javad_topic_serial_reader
read GPS data from device via serial ,and publish topic "nmea_sentence"
1.3.3javad_topic_driver
Subscriber "nmea_sentence", check sum to verify validation of sentence,
publish current_vel,current_fix,current_time_ref
2.can sensing>drivers>GNNS
2.1 driver basic
kvaser is a software product from KVASER that provides support for different CAN interface boards.
http://www.kvaser.com/canlib-webhelp/page_user_guide_intro_what.html
must install CANlib first ,then you can build this package!!!
support device: https://www.kvaser.com/product/kvaser-leaf-light-hs-v2-obdii/
The Leaf Light v2 OBDII provides a simple way of connecting a PC with a vehicle’s on-board computer by means of USB 2.0 connector and a 16-pin OBDII-compliant CAN connector. Having made its name as the work-horse of USB to CAN interfaces, Kvaser's Leaf Light product series provides reliable, low cost tools for connecting any CAN network to a PC or mobile computer in vehicle diagnostic applications and beyond.
2.2 into package
2.2.1 msg
only use CANPacket.msg
2.2.2can_listener
set communication parameter with kvaser device,
read can data and publish "can_raw"
2.2.3 can_converter
subscribe "can_raw",convert to real value ,save to log /tmp/can_log
2.2.4 can_draw
subscribe "can_raw",convert to real value ,save to log /tmp/can_log,
publish "can_status",type Marker, ?????
line_list.header.frame_id = "velodyne";
line_list.header.stamp = ros::Time::now();
line_list.ns = "steer_speed";
line_list.action = visualization_msgs::Marker::ADD;
line_list.pose.orientation.w = 1.0;
// line_list.lifetime=ros::Duration(0.2);
line_list.id = 0;
line_list.type = visualization_msgs::Marker::LINE_LIST;
line_list.scale.x = 0.2;
line_list.color.r = 1.0;
line_list.color.g = 0.0;
line_list.color.b = 0.0;
line_list.color.a = 1;3. camera sensing>drivers>camera
3.1 support camera
3.1.1 VLG-22C.I
VLG-22C.I | - |
|---|---|
Camera Series: | VisiLine |
FPS: | 55 |
Interface: | GigE |
Manufacturer: | Baumer |
Resolutions: | 2.2 MP |
Scanning Mode: | - |
Signal System: | Digital Color |
camera drive :BaumerGAPI
lauch file
<launch>
<!-- declare arguments with default values -->
<arg name="fps" default="15"/>
<arg name="CalibrationFile" default=""/>
<node pkg="vlg22c_cam" type="vlg22c_cam_node" name="vlg22c" cwd="node">
<param name="fps" value="$(arg fps)"/>
<param name="calibrationfile" value="$(arg CalibrationFile)"/>
</node>
</launch>set parameter fps,CalibrationFile
start node :vlg22c_cam_node
initilize camera system,get device info eg.camera number,system number
for each camera,publish "image_raw1", "image_raw2"....
3.2