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Overview

The DeepRacer Web Server ROS package creates the webserver_publisher_node which is part of the core AWS DeepRacer application and will be launched from the deepracer_launcher. More details about the application and the components can be found here.

License

The source code is released under Apache 2.0.

Supported ROS Distributions

• Foxy

Node Details

webserver_publisher_node

Subscribed Topics

/deepracer_systems_pkg/software_update_pct (msg/SoftwareUpdatePctMsg)

• Message with the latest software update percentage and status.

Published Topics

/webserver_pkg/calibration_drive (msg/ServoCtrlMsg)

• Publish a message with raw pwm values for steering angle and throttle data sent to the servo package to calibrate the car.

/webserver_pkg/manual_drive (msg/ServoCtrlMsg)

• Publish a message with steering angle and throttle data sent to the servo package to move the car.

Services Called

/ctrl_pkg/vehicle_state (srv/ActiveStateSrv)

• Client to the vehicle state service to deactivate the current vehicle state and prepare the new mode.

/ctrl_pkg/enable_state (srv/EnableStateSrv)

• Client to the enable state service to activate and deactivate the current vehicle mode.

/ctrl_pkg/get_car_cal (srv/GetCalibrationSrv)

• Client to the get calibration service to get the current calibration value for the steering or throttle.

/ctrl_pkg/set_car_cal (srv/SetCalibrationSrv)

• Client to the set calibration service to set the current calibration value for the steering or throttle.

/device_info_pkg/get_device_info (srv/GetDeviceInfoSrv)

• Client to the get device info service to get the hardware and software version of DeepRacer device and packages.

/i2c_pkg/battery_level (srv/BatteryLevelSrv)

• Client to the battery level service to get the current vehicle battery level ranging from [0 to 11].

/sensor_fusion_pkg/sensor_data_status (srv/SensorStatusCheckSrv)

• Client to the sensor data status service to get the sensor connection status for single camera/stereo camera and LiDAR.

/ctrl_pkg/set_led_state (srv/SetLedCtrlSrv)

• Client to set car led service to set the tail light LED values.

/ctrl_pkg/get_led_state (srv/GetLedCtrlSrv)

• Client to get car led service to get the tail light LED values.

/deepracer_systems_pkg/verify_model_ready (srv/VerifyModelReadySrv)

• Client to verify model service to validate if the extraction and installation of the model was successful.

/sensor_fusion_pkg/configure_lidar (srv/LidarConfigSrv)

• Client to configure lidar service to dynamically configure the preprocessing details for the LiDAR data before publishing as part of sensor message.

/deepracer_systems_pkg/console_model_action (srv/ConsoleModelActionSrv)

• Client to trigger the upload/delete models action from device console.

/deepracer_systems_pkg/software_update_check (srv/SoftwareUpdateCheckSrv)

• Client to the software update check service to find out if there is a software update available for the aws-deepracer packages.

/deepracer_systems_pkg/begin_update (srv/BeginSoftwareUpdateSrv)

• Client to the begin update service to trigger the update of the aws-deepracer debian packages to the latest software version available.

/deepracer_systems_pkg/software_update_state (srv/SoftwareUpdateStateSrv)

• Client to software update state service to get the current software update state from the states [UPDATE_UNKNOWN, UP_TO_DATE, UPDATE_AVAILABLE, UPDATE_PENDING, UPDATE_IN_PROGRESS].

/ctrl_pkg/autonomous_throttle (srv/NavThrottleSrv)

• Client to autonomous throttle service to set the scale value to multiply to the throttle during autonomous navigation.

/deepracer_systems_pkg/get_otg_link_state (srv/OTGLinkStateSrv)

• Client to the get otg link state service to get the current connection status of micro-USB cable to the DeepRacer device.