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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,4 @@ | ||
| <launch> | ||
| <node name="roscco_node" pkg="roscco" type="roscco_node" /> | ||
| <node name="roscco_apollo" pkg="roscco" type="roscco_apollo" /> | ||
| </launch> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,151 @@ | ||
| #include "roscco_apollo.h" | ||
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| RosccoApollo::RosccoApollo() | ||
| { | ||
| brake_pub = nh.advertise<roscco::BrakeCommand>( "brake_command", 1 ); | ||
| throttle_pub = nh.advertise<roscco::ThrottleCommand>( "throttle_command", 1 ); | ||
| steering_pub = nh.advertise<roscco::SteeringCommand>( "steering_command", 1 ); | ||
| chassis_pub = nh.advertise<apollo::canbus::Chassis>( "/apollo/canbus/chassis", 1 ); | ||
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| steering_sub = nh.subscribe( "/apollo/control", 1, &RosccoApollo::steeringCallback, this ); | ||
| brake_sub = nh.subscribe( "/apollo/control", 1, &RosccoApollo::brakeCallback, this ); | ||
| throttle_sub = nh.subscribe( "/apollo/control", 1, &RosccoApollo::throttleCallback, this ); | ||
| localization_sub = nh.subscribe( "/apollo/localization/pose", 1, &RosccoApollo::localizationCallback, this ); | ||
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| can_frame_sub = nh.subscribe( "/can_frame", 1, &RosccoApollo::EVCanFrameCallback, this ); | ||
| } | ||
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| void RosccoApollo::steeringCallback( const apollo::control::ControlCommand& input ) | ||
| { | ||
| roscco::SteeringCommand output; | ||
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| output.header.stamp = ros::Time::now(); | ||
| closedLoopControl( input.steering_target(), output, steering_angle_report ); | ||
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| steering_pub.publish( output ); | ||
| } | ||
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| void RosccoApollo::brakeCallback( const apollo::control::ControlCommand& input ) | ||
| { | ||
| roscco::BrakeCommand output; | ||
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| output.header.stamp = ros::Time::now(); | ||
| output.brake_position = input.brake() / 100; | ||
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| brake_pub.publish( output ); | ||
| } | ||
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| void RosccoApollo::throttleCallback( const apollo::control::ControlCommand& input ) | ||
| { | ||
| roscco::ThrottleCommand output; | ||
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| output.header.stamp = ros::Time::now(); | ||
| output.throttle_position = input.throttle() / 100; | ||
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| throttle_pub.publish( output ); | ||
| } | ||
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| void RosccoApollo::EVCanFrameCallback( const roscco::CanFrame& input ) | ||
| { | ||
| switch( input.frame.can_id ) | ||
| { | ||
| case 512: | ||
| { | ||
| throttle_report = input.frame.data[4]; | ||
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| throttle_report = throttle_report * THROTTLE_RATIO; | ||
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| break; | ||
| } | ||
| case 544: | ||
| { | ||
| brake_report = input.frame.data[4] + input.frame.data[5] * 256; | ||
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| brake_report = brake_report * EV_BRAKE_RATIO; | ||
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| break; | ||
| } | ||
| case 688: | ||
| { | ||
| steering_angle_report = input.frame.data[0] + input.frame.data[1] * 256; | ||
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| if( steering_angle_report > 60000 ) | ||
| { | ||
| steering_angle_report -= 65535; | ||
| } | ||
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| steering_angle_report = steering_angle_report * STEERING_RATIO; | ||
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| break; | ||
| } | ||
| case 1200: | ||
| { | ||
| speed_report = input.frame.data[0] + input.frame.data[2] | ||
| + input.frame.data[4] + input.frame.data[6]; | ||
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| speed_report += ( input.frame.data[1] + input.frame.data[3] | ||
| + input.frame.data[5] + input.frame.data[7] ) * 256; | ||
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| speed_report = speed_report / 4; | ||
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| speed_report = speed_report * EV_SPEED_RATIO; | ||
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| break; | ||
| } | ||
| default : | ||
| { | ||
| /// Empty default to leave no untested cases | ||
| break; | ||
| } | ||
| } | ||
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| apollo::canbus::Chassis output; | ||
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| output.set_steering_percentage( steering_angle_report ); | ||
| output.set_throttle_percentage( throttle_report ); | ||
| output.set_brake_percentage( brake_report ); | ||
| output.set_speed_mps( speed_report ); | ||
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| chassis_pub.publish( output ); | ||
| } | ||
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| void RosccoApollo::localizationCallback( const apollo::localization::LocalizationEstimate& input ) | ||
| { | ||
| std::cout << std::to_string( input.pose().position().x() ) << ", " | ||
| << std::to_string( input.pose().position().y() ) << "\n"; | ||
| } | ||
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| void closedLoopControl( double setpoint, | ||
| roscco::SteeringCommand& output, | ||
| double steering_angle_report ) | ||
| { | ||
| pid_terms params; | ||
| pid_state state; | ||
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| createPIDState( setpoint, &state ); | ||
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| params.max = 1; | ||
| params.min = -1; | ||
| params.p_term = 0.016; | ||
| params.i_term = 0.0001; | ||
| params.d_term = 0.01; | ||
| params.i_max = 5000; | ||
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| output.steering_torque = pidController( ¶ms, &state, steering_angle_report ); | ||
| } | ||
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| int main( int argc, char** argv ) | ||
| { | ||
| ros::init( argc, argv, "roscco_apollo" ); | ||
| RosccoApollo roscco_apollo; | ||
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| ros::spin(); | ||
| } |
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