Kia soul commander [ ROS DASHING ]

Overview

Kia soul commander is an application designed to show how the Open Source Car Control API can be used to receive reports from and send commands to a drive by-wire enabled vehicle using ROS.

This application also demonstrates registering callback functions to recieve and parse OSCC reports as well as vehicle state reports from the car's OBD-II CAN network.

For more information about OSCC, check out PolySync OSCC on github.

Getting Started

These instructions have been tested with a new Ubuntu 18.04 installation with ROS Dashing.

• OSCC's API and firmware modules are both required, and the modules must be installed on the vehicle
• The socketcan driver for USB and PCIe CAN interfaces is required, and is pre-installed on most Linux systems
• A CAN interface adapter, such as the Kvaser Leaf Light, is also necessary in order to connect the API to the OSCC control CAN network via USB

1. Set up this repository locally

Clone this repository to your machine, if you have not already done so:

# clone the repository
$ git clone git@github.com:irh-ca-team-car/oscc-commander.git

Note: If you do not have a SSH key on your github account you will need to clone the repository using HTTPS.

Then, from within that directory, sync and initialize Git submodules:

$ cd oscc-commander
$ git submodule sync
$ git submodule update --init --recursive

Building Kia soul Commander

1. CMake Configuration

In order to build the oscc-commander application, you must use colcon. Place the directory inside a Colcon workspace

$ colcon build
$ source install/setup.bash

CAN interface

You would then run the following:

#Root is important because the node change the can interface speed
su root
source /opt/ros/dashing/setup.bash
ros2 run kia_soul_control drivekit [channel=0]

For more information on setting up a socketcan interface, check out this guide.

Application Details

Controlling the Vehicle with ROS

Once the kia soul commander is up and running you can use it to send commands to DriveKit via ROS topics.

main

main.cpp is the entry point of oscc commander. Initializes OSCC interface, checks for ros topics updates every millisecond, and closes the interface when the program terminates. This contains the applications main loop.

commander

commander.cpp The commander files contain the joystick commander's interactivity with the OSCC API. It demonstrates opening and closing the CAN channel communications with OSCC's control CAN network, sending enable/disable commands to the modules through the API, retrieving OSCC reports through callback functions, and sending commands through the OSCC publish functions.

node.cpp is the ROS2 node containing the commander update implementation.

oscc.cpp is a C++ version os oscc.c in the submodule oscc

ROS

The current project references ros melodic in an non-standard way. The canbus is published under the can_msgs/Frame found in https://github.com/ros-industrial/ros_canopen.

topic_type	topic_name	direction
std_msgs::msg::Float64	car/steering/torque	Input
std_msgs::msg::Float64	car/throttle	Input
std_msgs::msg::Float64	car/brake	Input
std_msgs::msg::Bool	car/enabled	Input
can_msgs::msg::Frame	car/can0	Output
std_msgs::msg::Float64	car/speed/actual	Output
std_msgs::msg::Float64	car/steering/angle/actual	Output

Using OSCC API

To use the OSCC API in your applications, you need to include any relevant header files.

• The can message protocols are located in oscc/api/include/can_protocols/
  • These specify the structs we use for steering, throttle, brake, and fault reports
• Vehicle specific macros and values are located in oscc/api/include/vehicles/
  • You only need to include vehicles.h, which will include the relevant vehicle-specific header depending on the option provided to CMake (e.g., -DVEHICLE=kia_soul_ev will include kia_soul_ev.h)
• oscc/api/include/oscc.h includes the functionality to interface with the OSCC API

License Information

MIT License

Copyright (c) 2020 PolySync Technologies

Please see LICENSE.md for more details.

Contact Information

Please direct questions regarding OSCC and/or licensing to help@polysync.io.

Distributed as-is; no warranty is given.

Copyright (c) 2020 PolySync Technologies, Inc. All Rights Reserved.