lgsvl_nissanleaf_ros

lgsvl Nissan Leaf ROS auxiliaries

This ROS package (lgsvl_nissanleaf_ros) aims to provide additional launch files and nodes to make it easier to work with lgsvl and ROS.

Usage

In order to create /current_pose from /odom simply run:

rosrun lgsvl_nissanleaf_ros odom_to_pose.py

There are 3 default locations which can be simulated as:

rosparam set lgsvl_location zala
rosparam set lgsvl_location gyor
rosparam set lgsvl_location zero
rosrun lgsvl_nissanleaf_ros odom_to_pose.py

To start the static + dynamic trasforms and the bridge (in case of Windows), run:

roslaunch lgsvl_nissanleaf_ros tf_bridge.launch

To start the static + dynamic trasforms, the vehicle model and the bridge (in case of Windows), run:

roslaunch lgsvl_nissanleaf_ros tf_model_bridge.launch

To start the static + dynamic trasforms, and the 3D vehicle model:

roslaunch lgsvl_nissanleaf_ros tf_model.launch

Dependencies

• lgsvl_msgs LGSVL related ROS message types, clone and build in the catkin workspace
• rosbridge-server simply install with sudo apt install ros-$ROS_DISTRO-rosbridge-server
• nissan_leaf_ros/nissan_brigup contains the 3D rviz model (optional for visualization in RVIZ)
• autoware.ai optional if the control is done with autoware MPC realization

Install ROS dependencies

It is recommended to use catkin build instead of catkin_make, but it is not obilgatory.

sudo apt update
sudo apt install python-catkin-tools

Initiialize catkin workspace if not yet done (~/catkin_ws is assumed).

mkdir ~/catkin_ws
cd ~/catkin_ws
mkdir src
catkin init
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc

Clone the dependencies to the catkin workspace.

cd ~/catkin_ws
rosdep install --from-paths src --ignore-src
cd ~/catkin_ws/src
git clone /~https://github.com/lgsvl/lgsvl_msgs
git clone /~https://github.com/ros-drivers/velodyne
git clone /~https://github.com/szenergy/nissan_leaf_ros
git clone /~https://github.com/szenergy/nissanleaf-lgsvl
git clone /~https://github.com/szenergy/szenergy-utility-programs

Build and don't forget to source bashrc.

catkin build lgsvl_msgs lgsvl_nissanleaf_ros velodyne gps_tf_publisher
source ~/.bashrc

Install rosbridge-server.

sudo apt install ros-$ROS_DISTRO-rosbridge-server

Topics

Topic	Type	Hz	Description	Port (sim)	Port (leaf)
/velodyne_left/velodyne_points	sensor_msgs/PointCloud2	20	Velodyne LIDAR
/velodyne_right/velodyne_points	sensor_msgs/PointCloud2	20	Velodyne LIDAR
/left_os1/os1_cloud_node/points	sensor_msgs/PointCloud2	20	Ouster LIDAR
/right_os1/os1_cloud_node/points	sensor_msgs/PointCloud2	20	Ouster LIDAR
/left_os1/os1_cloud_node/imu	sensor_msgs/Imu	100	Ouster LIDAR
/right_os1/os1_cloud_node/imu	sensor_msgs/Imu	100	Ouster LIDAR
/cloud	sensor_msgs/PointCloud2	25	SICK LIDAR
/scan	sensor_msgs/LaserScan	25	SICK LIDAR
/zed_node/left/camera_info	sensor_msgs/CameraInfo	20	ZED camera
/zed_node/left/image_rect_color/compressed	sensor_msgs/Image	20	ZED camera
/vehicle_status	autoware_msgs/VehicleStatus	100	CAN data
/gps/duro/current_pose	geometry_msgs/PoseStamped	20	Duro GPS (UTM)
/gps/duro/imu	sensor_msgs/Imu	200	Duro GPS
/gps/duro/mag	sensor_msgs/MagneticField	25	Duro GPS
/gps/nova/current_pose	geometry_msgs/PoseStamped	40	Novatel GPS (UTM)
/gps/nova/imu	sensor_msgs/Imu	200	Novatel GPS
/current_pose	geometry_msgs/PoseStamped	20	Current pose from the used GPS
/tf	tf2_msgs/TFMessage	500+	Transform

Some important types:

• geometry_msgs/PoseStamped
• sensor_msgs/PointCloud2
• sensor_msgs/LaserScan
• sensor_msgs/NavSatFix
• sensor_msgs/Imu
• sensor_msgs/MagneticField

Notes

Install v0.1-beta on windows: