Rgator_supervisor_computer_ws

supervisor computer: localization, control, and vehicle interface

perception computer: sensor interface, perception, and planning

ROS2 Packages:

dbw:

• dbw: subscribe control command
• dbw_read: subscribe control command; read CAN bus data, convert to ROS2 topic

dbw_msgs:

• Dbw: define control command
• [PGNs]: vehicle CAN bus data msg

Driver Usage:

Drive-by-wire:

control the vehicle only:

ros2 run dbw dbw

control the vehicle and read CAN bus data:

ros2 run dbw dbw_read

ROS2 Workspace Setup and Running Instructions

This guide provides detailed instructions on how to create a ROS2 workspace, clone necessary packages, build the workspace, and run the program. Follow the steps carefully to get your code up and running.

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Creating the Workspace

Step 1: Create a ROS Workspace

cd
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src

Step 2: Clone Necessary Package Repositories into the src Folder

Terminal: Get Rgator Computer Workspace

git clone https://github.com/AUVSL/rgator_computer_ws.git

Running the Program

Terminal: Run DBW Velocity Simulator

cd ~/ros2_ws/src
source /opt/ros/humble/setup.bash
source install/setup.bash
ros2 run dbw dbw_vel_sim

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Tips and Troubleshooting

• Make sure to have ROS2 Humble installed and properly configured on your system.
• If you encounter errors during the build process, try running:

  colcon clean
  colcon build --packages-select <package_name>

• Verify that each package has been correctly cloned and built before running.

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