193 lines
3.7 KiB
Markdown
193 lines
3.7 KiB
Markdown
|
## 自动驾驶ros2程序说明文档(基于职业大学小巴)
|
|||
|
|
|
|||
|
|
### 环境配置
|
|||
|
|
|
|||
|
|
#### ros 环境
|
|||
|
|
1. ubuntu 20.04
|
|||
|
|
2. ros2 foxy
|
|||
|
|
|
|||
|
|
#### 第三方库
|
|||
|
|
|
|||
|
|
##### c++ boost库
|
|||
|
|
|
|||
|
|
```bash
|
|||
|
|
sudo apt-get install libboost-all-dev
|
|||
|
|
```
|
|||
|
|
|
|||
|
|
##### c++ paho.mqtt.cpp库
|
|||
|
|
```bash
|
|||
|
|
# 依赖paho.mqtt.c
|
|||
|
|
git clone https://github.com/eclipse/paho.mqtt.c.git
|
|||
|
|
cd paho.mqtt.c
|
|||
|
|
mkdir build && cd build
|
|||
|
|
cmake .. -DPAHO_WITH_SSL=ON
|
|||
|
|
make
|
|||
|
|
sudo make install
|
|||
|
|
sudo ldconfig
|
|||
|
|
|
|||
|
|
# 安装paho.mqtt.cpp
|
|||
|
|
git clone https://github.com/eclipse/paho.mqtt.cpp
|
|||
|
|
cd paho.mqtt.cpp
|
|||
|
|
mkdir build && cd build
|
|||
|
|
cmake ..
|
|||
|
|
make
|
|||
|
|
sudo make install
|
|||
|
|
sudo ldconfig
|
|||
|
|
```
|
|||
|
|
|
|||
|
|
##### python paho-mqtt
|
|||
|
|
|
|||
|
|
```sh
|
|||
|
|
pip install paho-mqtt==1.5.1
|
|||
|
|
```
|
|||
|
|
|
|||
|
|
##### Yaml
|
|||
|
|
|
|||
|
|
版本号: >= v0.5.2
|
|||
|
|
|
|||
|
|
```sh
|
|||
|
|
sudo apt-get update
|
|||
|
|
sudo apt-get install -y libyaml-cpp-dev
|
|||
|
|
```
|
|||
|
|
|
|||
|
|
##### libpcap
|
|||
|
|
|
|||
|
|
版本号： >= v1.7.4
|
|||
|
|
|
|||
|
|
```sh
|
|||
|
|
sudo apt-get install -y libpcap-dev
|
|||
|
|
```
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
#### 配置CAN和网络
|
|||
|
|
```bash
|
|||
|
|
# 加载模块
|
|||
|
|
sudo insmod mcp251xfd.ko
|
|||
|
|
|
|||
|
|
# 配置并查看比特率
|
|||
|
|
sudo ip link set can0 type can bitrate 500000
|
|||
|
|
ip -details -statistics link show can0
|
|||
|
|
|
|||
|
|
# cansend
|
|||
|
|
cansend can1 1F334455#1122334455667788
|
|||
|
|
cansend can0 202#0100aa0001f4ffce
|
|||
|
|
|
|||
|
|
# 清除所有文件的时间戳
|
|||
|
|
find . -type f -exec touch {} \;
|
|||
|
|
|
|||
|
|
# 配置ip和物理地址
|
|||
|
|
sudo ifconfig eth0 down
|
|||
|
|
sudo ifconfig hw ether 02805E1F0122
|
|||
|
|
sudo ifconfig eth0 172.31.132.34 up
|
|||
|
|
|
|||
|
|
# 设置can.sh开机自启动：
|
|||
|
|
配置CAN.pdf
|
|||
|
|
```
|
|||
|
|
```bash
|
|||
|
|
#!/bin/bash
|
|||
|
|
# Script: can.sh
|
|||
|
|
# Description: Configures CAN interface can0 on startup
|
|||
|
|
|
|||
|
|
# Check if running as root
|
|||
|
|
if [[ $EUID -ne 0 ]]; then
|
|||
|
|
echo "This script must be run as root"
|
|||
|
|
exit 1
|
|||
|
|
fi
|
|||
|
|
|
|||
|
|
# Disable CAN interface can0 if it's up
|
|||
|
|
if ip link show can0 &> /dev/null; then
|
|||
|
|
ip link set can0 down
|
|||
|
|
fi
|
|||
|
|
|
|||
|
|
# Load necessary kernel modules
|
|||
|
|
modprobe can
|
|||
|
|
modprobe can_raw
|
|||
|
|
modprobe mttcan
|
|||
|
|
|
|||
|
|
# Configure CAN interface can0 with bitrate 250000
|
|||
|
|
ip link set can0 type can bitrate 250000
|
|||
|
|
ip link set up can0
|
|||
|
|
|
|||
|
|
# Check the return status of the last command
|
|||
|
|
if [[ $? -ne 0 ]]; then
|
|||
|
|
echo "Error configuring CAN interface can0"
|
|||
|
|
exit 1
|
|||
|
|
fi
|
|||
|
|
|
|||
|
|
echo "CAN interface can0 configured successfully"
|
|||
|
|
exit 0
|
|||
|
|
|
|||
|
|
```
|
|||
|
|
|
|||
|
|
#### RTK和惯导
|
|||
|
|
|
|||
|
|
```
|
|||
|
|
1、请求com1输出gpgga报文
|
|||
|
|
log com1 gpgga ontime 1
|
|||
|
|
|
|||
|
|
2、通过com1传入差分数据，自动差分打开
|
|||
|
|
interfacemode com1 auto auto on
|
|||
|
|
|
|||
|
|
3、请求com3输出所需报文
|
|||
|
|
log com3 <NMEA标准报文> ontime 0.1
|
|||
|
|
|
|||
|
|
4、保存配置
|
|||
|
|
saveconfig
|
|||
|
|
|
|||
|
|
5、开启惯导
|
|||
|
|
inscontrol enable
|
|||
|
|
|
|||
|
|
6、设置惯导 8 种轴向(默认轴向 1，不需要改)
|
|||
|
|
set imuaxestype 1/2/3/4/5/6/7/8
|
|||
|
|
|
|||
|
|
板卡正面朝上，Y轴指向车头，为轴向 1；逆时针旋转 90 度为轴向 2；逆时针旋转 180 度为轴向 3；逆时针旋转 270 度为轴向 4；
|
|||
|
|
|
|||
|
|
板卡正面朝下，Y轴指向车头，为轴向 5；逆时针旋转 90 度为轴向 6；逆时针旋转 180 度为轴向 7；逆时针旋转 270 度为轴向 8。
|
|||
|
|
|
|||
|
|
7、保存配置
|
|||
|
|
saveconfig
|
|||
|
|
|
|||
|
|
注意：接RTK模块串口，波特率115200
|
|||
|
|
```
|
|||
|
|
|
|||
|
|
### 操作
|
|||
|
|
|
|||
|
|
#### 自动、远程驾驶
|
|||
|
|
首先进入工作空间 minibus
|
|||
|
|
|
|||
|
|
终端一：
|
|||
|
|
``` bash
|
|||
|
|
sudo ./can.sh # 用来配置车CAN口，密码 nvidia
|
|||
|
|
|
|||
|
|
sudo ./lidar128.sh # 用来配置128线激光雷达
|
|||
|
|
```
|
|||
|
|
|
|||
|
|
终端二：
|
|||
|
|
```bash
|
|||
|
|
./start.sh
|
|||
|
|
```
|
|||
|
|
|
|||
|
|
终端三：
|
|||
|
|
```bash
|
|||
|
|
source install/setup.bash
|
|||
|
|
ros2 run mc mc_node # 用来打开底盘控制节点
|
|||
|
|
```
|
|||
|
|
|
|||
|
|
#### 采点
|
|||
|
|
|
|||
|
|
```bash
|
|||
|
|
source install/setup.bash
|
|||
|
|
ros2 run gather gather_node # 用来打开采点程序
|
|||
|
|
```
|
|||
|
|
|
|||
|
|
|
|||
|
|
中途记录位置信息：
|
|||
|
|
|
|||
|
|
找到gather_node终端，键入**a**（小写）保存**站台**信息。站台信息组成包括三个点（进入站台的减速点、站台内停止点和驶离站台恢复速度点），所以需要在相应位置键入w。
|
|||
|
|
|
|||
|
|
键入**s**（小写）保存**停止线**信息，操作同上。
|
|||
|
|
|
|||
|
|
键入**d**（小写）保存**变道**信息，操作同上。
|
|||
|
|
|
|||
|
|
|