raptor_dbw: can_dbc_parser | pdu | pdu_msgs | raptor_dbw_can | raptor_dbw_joystick_demo | raptor_dbw_joystick_speed_demo | raptor_dbw_msgs

Package Summary

A ROS interface to the New Eagle Raptor drive-by-wire controller

Overview

The raptor_dbw metapackage is a collection of packages for interacting with the New Eagle Raptor DBW controllers. The primary goal of this stack is to facilitate ROS-based DBW kit development and provide a set of ROS-CAN interface tools.

The current development branch is master and targets ROS kinetic and melodic.

For more on New Eagle Raptor controllers see: https://store.neweagle.net/product/1793-196-1503-general-control-module-raptor/

Packages

  • can_dbc_parser - module for handling everything related to translating CAN messages to ROS
  • raptor_dbw_can - DBW CAN driver
  • raptor_dbw_joystick_demo - a demo that allows you to use a game controller to interact with the DBW ROS node
  • raptor_dbw_joystick_speed_demo - a demo that allows you to use a game controller to interact with the DBW ROS node
  • raptor_dbw_msgs - DBW ROS message definitions
  • raptor_dbw - the core DBW ROS node logic
  • pdu - power distribution unit (PDU) driver. The PDU is a separate CAN-enabled device that's part of New Eagle's product line.
  • pdu_msg - PDU ROS message definitions

Installing and building

Official Release

(Coming soon)

Building from source

While we are working on releasing these packages through the ROS buildfarm, you can build them from source using a catkin workspace and following these steps:

  1. Create and initialize a new catkin workspace if you don't already have one. Instructions below assume the workspace was created in catkin_ws.
  2. cd catkin_ws/src
  3. git clone https://github.com/NewEagleRaptor/raptor-dbw-ros.git

  4. cd ..
  5. catkin_make

Usage

Running the joystick demo

Prerequisites:

  • a game controller compatible with the ROS [joy driver](http://wiki.ros.org/joy)

  • a Kvaser CAN adapter
  • cd catkin_ws
  • source devel/setup.bash
  • roslaunch raptor_dbw_joystick_demo joystick_demo.launch

Report a Bug

<<TracLink(ros-pkg raptor_dbw)>>

Wiki: pacifica_dbw (last edited 2020-03-24 02:20:25 by LeonidSapronov)