can_interface
:network_interface
:platform_automation_msgs
:CurvatureFeedback
was added to support steering feedback information abstracted into a current curvature from the vehicle's present trajectory.pacmod_game_control
:vehicle_type
parameter in the launch file. See the launch file for details.pacmod
along with the game controller node.delphi_esr
:delphi_esr
node has been renamed to delphi_esr_can
.TrackMotionPower
message is now published by the driver indicating the average amplitude of the returns used in the track and the movement of the track.delphi_srr:
ibeo_lux
:mobileye_560_660
:LaneModels
message.ObstacleData
message.neobotix_usboard
pacmod
:GlobalRpt
message now contains hardware error feedback (such as CAN timeouts and number of CAN read errors).vehicle_type
, is available in the launch files. The driver now supports the vehicle types POLARIS_GEM, POLARIS_RANGER, and INTERNATIONAL_PROSTAR_122 as well as additional features (wipers, horn, etc.) that are specific to those vehicles.delphi_esr:
delphi_srr:
ibeo_lux:
mobileye_560_660:
~viz_frame_id
) has been added specifically for the visualization of the lane models and objects. The intent of this frame is that the reference frame will be identical to that of the mobileye but with a Z offset of the exact opposite of the Z offset of the mobileye's frame. This places the lane and object visualizations on the ground (Z = 0) instead of floating at the height of the mobileye.pacmod:
clear_override
flag in the general report command is now set to true by default. This is necessary to accommodate the above change and allow overrides to be reset.pacmod_game_control
~max_veh_speed
). Based on this value, the software will now automatically scale the steering wheel rotational speed based on current vehicle speed vs max_veh_speed
.~controller_type
) was added to select between this and the Logitech controller.can_msgs/Frame
as opposed to can_interface/CanFrame
. This was done for the purpose of aligning our underlying architecture with standardized ROS messages instead of using our own, custom messages. This also means that the stack now relies on can_msgs
and it must be installed for the drivers to function properly. Other than the new prerequisite package, this change should only affect customers who were using the raw can topics (can_tx, can_rx_echo, or can_rx) for communication with the sensors.can_interface
:can_interface/CanFrame
was removed in favor of can_msgs/Frame
.ibeo_lux
:delphi_esr
:Twist
to TwistStamped
. This allows the twist
output from the DataSpeed drive-by-wire driver to simply be remapped to this topic.pacmod
:pacmod
: Vehicle speed was not being parsed correctly. The value reported in /parsed_tx/vehicle_speed_rpt is now in the native mph and a new topic, /as_tx/vehicle_speed is now available for m/s. To correctly see this value, a PACMod firmware update is required.pacmod_game_control
: The default maximum rotational speed of the steering wheel that is sent from this node has been reduced by half. However, this value is now configurable in the launch file.kartech_linear_actuator
(Supports the Kartech CAN Linear Actuator)can_interface
: The CanFrame message definition id field was changed from uint16 to uint32 to support extended IDs.delphi_esr
: Visualization changes to the Delphi ESR (CAN) driver. Previously, radar tracks were visualized by green rectangular bars with no depth that changed height as the track moved closer to the radar indicating potential location. Now these are visualized as green rectangular bars with depth and a constant height. Added the following open-source packages:
network_interface
(Supports parsing of TCP and UDP packets over an Ethernet interface with an abstracted API)
Added the following closed-source packages:
delphi_srr
(Supports the Delphi SRR2)
ibeo_lux
(Supports the Ibeo LUX 4L/4L HD and Ibeo LUX Fusion)
pacmod
: Node name of pacmod_node is now named pacmodBreaking change: Changed mobileye_560_660
messages to use standard ROS naming convention (cammel-case vs underscores).
Added the following open-source packages:
pacmod_game_control
(Joystick Controller for the PACMod drive-by-wire system)
Bug fixes to can_interface
.
Bug fixes to pacmod
and can_interface
. Updates to platform_automation_msgs
.
Initial release with the following closed-source drivers:
delphi_esr
(Supports the Delphi ESR 2.5 12V/24V, 9.21.21, and 9.21.15)
mobileye_560_660
(Supports the Mobileye 560/660 with extended firmware from AutonomouStuff)
pacmod
(Supports the PACMod Drive-by-Wire System from AutonomouStuff)
Also includes the following open-source packages:
can_interface
(Supports Kvaser linuxcan API for all Kvaser CAN devices – SocketCAN support coming soon)
platform_automation_msgs
(Generic ROS message definitions for radar devices, highway automation nodes, and general automation)