AutoGoKart

How to Run

1. Create your own workspace

mkdir -p <WorkSpace>

2. Clone package into src

cd <WorkSpace>
git clone https://github.com/resilient-autonomous-systems-lab/AutoGoKart.git src

3. Register USB ports

cd src
sudo chmod 777 bind_usb.sh
sudo sh bind_usb.sh

check if the usb ports are binded

ll /dev/imu_usb
ll /dev/gps_usb

4.1 Run in Docker

• build image from dockerfile

docker build . 

• build and run container in interactive mode

docker run -it --name [container_name] --device /dev/ttyACM0 --device /dev/imu_usb --device /dev/gps_usb --mount type=bind,src="$(pwm)",target=/gokart_ws [docke_image_name] bash

4. Build packages Now, you are inside the container, since you bind the workspace, anychange you make in container, it will be refleacted in you workspace, be careful

cd /gokart_ws
colcon build
source /Path to gokart_ws/gokart_ws/install/setup.bash

5. Run Launch files
   (1) AT9S joystick

   ros2 run at9s_joy at9s_joy
   

   ROStopic: joy/at9s

   • header.frame_id: at9s_joy

   • axes[0]: throttle command (float, -1: reverse max, 1: forward max) (Right vertical)

   • axes[1]: steering command (float, -1: right max, 1: left max) (left horizonal)

   • axes[2]: Rudder command (float, -1: reverse max, 1: forward max) (left vertical)

   • axes[3]: Elevator command (float, -1: right max, 1: left max) (Right horizonal)

   • buttons: [sWA, sWB, sWC, sWD, sWE, sWF] (int, 0: disabled (buttons are at reverse position), 1: Enabled)

   (2) IMU

   ros2 launch wit_ros2_imu rviz_and_imu.launch.py
   

   ROStopic:

   • /imu/raw_data

   (3) GPS

   ros2 launch nmea_navsat_driver nmea_serial_driver.launch.py
   

   ROStopic:

   • /fix
   • /vel
   • /heading

   To read the data, open another terminal

   source /Path to WorkSpace/<WorkSpace>/install/setup.bash
   ros2 run nmea_navsat_driver read_lat_long
   

   (4) Joystick

   ros2 run joy
   ros2 run joystick joystick
   

   ROStopic:

   • control_command.header.frame_id: at9s_joy
   • control_command.point.x: throttle command (-1: reverse max, 1: forward max)
   • control_command.point.y: steering command (-1: right max, 1: left max)

(5) Command Center

<run joystick node or cockpit node>
ros2 run command_center command_center

ROStopic:

• sbw_control.header.frame_id: sbw_input
• sbw_control.point.x: steering command (-30: right max, 30: left max)

ROS Node - Details

Usage	Node number	Node Name	Topic number	Topic Name	Msg Type
Read Angle from SBW Encoder	5	gokart_sbw		sbw_feedback	geometery_msgs/msg/PointStamped
Send Steering Angle To SBW Encoder	5	gokart_sbw	2	sbw_control	geometery_msgs/msg/PointStamped
Read Steering Control And Throttle Control from Computer/ Controller	7	gokart_command	1	control_command	geometery_msgs/msg/PointStamped
Send JoyStick(Gamepad) To Command Extractor	3	gokart_joystick	4	joystick_command	sensor_msgs/msg/joy
Send Cockpit To Command Extractor	2	gokart_cockpit	5	cockpit_command	geometery_msgs/msg/PointStamped