Acer EV Controller

Prepare

Be sure to clone your own ssh

Step one

Download "Kvaser Linux Drivers and SDK" from https://www.kvaser.com/download/. Please read the README in the driver first. And follow the instructions to install it.
YOU NEED A KVASER USB CANBUS HARDWARE TO CONTROL VEHICLE!
gcc version : 7
g++ version : 7

Step two

Compile ROS nodes

 cd ~/catkin_ws
 catkin_make

Execute

Step three

Setup env

  ~/catkin_ws$ source devel/setup.sh

Step four

Loading vehicle parameters to ros

roslaunch setup_vehicle_info<RENAME CAR MODEL HERE>.launch

Step five

Launch Acer vehicle controller

rosrun vehicle_socket acer_vehicle_control

Step six

Sending an autopilot(or manual) mode cmd to "/mode_cmd" topic to Acer vehicle controller

Notice

If you are ready to have fun with auto driving, just switch the mode button to autopilot at the dashboard of the vehicle. The vehicle will be controlled by ROS.

If you want to turn off autopilot, switch the button off (or hit the brakes). The vehicle will be in manual mode. You can take back control immediately.

Topic Name : mode_cmd
case 1 : auto pilot
case 0 : manual mode