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https://github.com/sea-me-coss/ecu-core
RaspberryPi based ECU that communicates with the local machine
https://github.com/sea-me-coss/ecu-core
can-bus depth-camera lidar raspberrypi ros2
Last synced: 7 days ago
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RaspberryPi based ECU that communicates with the local machine
- Host: GitHub
- URL: https://github.com/sea-me-coss/ecu-core
- Owner: SEA-ME-COSS
- License: cc-by-sa-4.0
- Created: 2024-06-12T18:52:03.000Z (7 months ago)
- Default Branch: master
- Last Pushed: 2024-06-17T12:50:22.000Z (7 months ago)
- Last Synced: 2024-11-13T20:42:16.200Z (2 months ago)
- Topics: can-bus, depth-camera, lidar, raspberrypi, ros2
- Language: Python
- Homepage:
- Size: 11 MB
- Stars: 0
- Watchers: 0
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# About
This repository is for the **ECU-Core** part of the [Autonomous-Driving-System](https://github.com/SEA-ME-COSS/Autonomous-Driving-System) project. The ECU-Core is based on an independent RaspberryPi board and performs following tasks.
- Publish LIDAR scan data as ROS2 topic
- Publish depth camera image data as ROS2 topic
- Receive vehicle informations as ROS2 topic and convert them into CAN communication
- Control the execution of autonomous driving mode
We used **YDLIDAR X4** and **RealSense D435** depth camera in this project. For more detailed information, refer to the [Autonomous-Driving-System](https://github.com/SEA-ME-COSS/Autonomous-Driving-System) project.
# Requirements
- **Ubuntu 20.04**
Install Ubuntu 20.04 for RaspberryPi using RaspberryPi OS Imager.
- **CAN HAT setup**
Follow the instruction of [2-CH CAN FD HAT setup](https://www.waveshare.com/wiki/2-CH_CAN_FD_HAT) and enable **Single SPI Mode**.
- **ROS2 setup**
Follow the instruction of [ROS2 foxy setup](https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Debians.html).
- **LIDAR SDK setup**
Follow the instruction of [YDLidar-SDK setup](https://github.com/YDLIDAR/YDLidar-SDK/blob/master/doc/howto/how_to_build_and_install.md).
- **Depth camera SDK setup**
Follow the instruction of [RealSense documentation](https://dev.intelrealsense.com/docs/docs-get-started). If you encounter issues while running the software installed on RaspberryPi, refer to the following [page](https://github.com/IntelRealSense/librealsense/issues/12462).
- **OpenCV packages**
```bash
pip install opencv-python
sudo apt install ros-foxy-cv-bridge
```
- **Python packages**
```bash
pip install numpy
pip install transforms3d
```
# Usage
```bash
# Execute on the ECU-Core
colcon build
source install/setup.bash
sh can_setup.sh
ros2 run lidar_pub lidar_pub
ros2 run camera_pub camera_pub
ros2 run receiver receiver
ros2 run headunit_start headunit_start
```
# Note
The ROS2 topic communication is machine-to-machine. Make sure that both ECU-Core and local machine are connected to the same WLAN. If the connection is not successful, disable the firewall using the following command.
```bash
# Execute on the ECU-Core and local machine
sudo ufw disable
```
Context of CAN communication
| Message | Purpose | Arbitration ID |
|--------------------|------------------------|----------------|
| **steering** | **Control** | **0x00** |
| **throttle** | **Control** | **0x01** |
| **x position** | **GPS** | **0x02** |
| **y position** | **GPS** | **0x03** |
| **orientation** | **GPS** | **0x04** |
| **headunit start** | **Autonomous driving** | **0x05** |