More documentation about dependencies

lgsvl_nissanleaf_ros/README.md

@@ -15,6 +15,10 @@ rosparam set lgsvl_location gyor
 rosparam set lgsvl_location zero
 rosrun lgsvl_nissanleaf_ros odom_to_pose.py
 ```
+To start the static + dynamic trasforms and the bridge (in case of Windows), run:
+```
+roslaunch lgsvl_nissanleaf_ros tf_bridge.launch
+```
 
 To start the static + dynamic trasforms, the vehicle model and the bridge (in case of Windows), run:
 ```
@@ -27,4 +31,6 @@ roslaunch lgsvl_nissanleaf_ros tf_model.launch
 ```
 
 ## Dependencies
-- [nissan_leaf_ros](https://github.com/szenergy/nissan_leaf_ros)/nissan_brigup contains the 3D rviz model
+- [lgsvl_msgs](https://github.com/lgsvl/lgsvl_msgs) LGSVL related ROS message types, clone and build in the catkin workspace
+- [rosbridge-server](http://wiki.ros.org/rosbridge_server) simply install with `sudo apt install ros-$ROS_DISTRO-rosbridge-server`
+- [nissan_leaf_ros](https://github.com/szenergy/nissan_leaf_ros)/nissan_brigup contains the 3D rviz model (optional for visualization in RVIZ)

lgsvl_nissanleaf_ros/launch/tf_bridge.launch

@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!--
+    TF:         static + 1 dynamic transform
+    BRIDGE:     roslaunch rosbridge_server rosbridge_websocket.launch
+-->
+<launch>
+  <!-- tf -->
+  <include file="$(find lgsvl_nissanleaf_ros)/launch/tf.launch" />
+
+  <!-- bridge -->
+  <include file="$(find lgsvl_nissanleaf_ros)/launch/bridge.launch" />
+</launch>

lgsvl_nissanleaf_ros/script/canbus_to_autoware.py

@@ -3,13 +3,19 @@
 import rospy
 import lgsvl_msgs.msg as lgsvl
 import geometry_msgs.msg as geomsg
-import autoware_msgs.msg as autoware
+autoware_installed = True
+try:
+    import autoware_msgs.msg as autoware
+except:
+    autoware_installed = False
+
 
 pub_velocity = None
 pub_vehiclestatus= None
 
+
 def canCallBack(msg):
-    global pub_velocity,pub_vehiclestatus
+    global pub_velocity,pub_vehiclestatus, autoware_installed
 
     #publish current_velocity
     vel_msg=geomsg.TwistStamped()
@@ -20,14 +26,15 @@ def canCallBack(msg):
     if pub_velocity is not None:
         pub_velocity.publish(vel_msg)
 
-    # publish vehicle_status    
-    vehicle_msg=autoware.VehicleStatus()
-    vehicle_msg.header.stamp = rospy.Time.now()
-    vehicle_msg.header.frame_id = "base_link"
-    vehicle_msg.speed=msg.speed_mps                 #m/s
-    vehicle_msg.angle=-msg.steer_pct*31*(3.14/180)     #rad        todo:revision steering limit
-    if pub_vehiclestatus is not None:
-        pub_vehiclestatus.publish(vehicle_msg)
+    # publish vehicle_status
+    if autoware_installed is True:
+        vehicle_msg=autoware.VehicleStatus()
+        vehicle_msg.header.stamp = rospy.Time.now()
+        vehicle_msg.header.frame_id = "base_link"
+        vehicle_msg.speed=msg.speed_mps                 #m/s
+        vehicle_msg.angle=-msg.steer_pct*31*(3.14/180)     #rad        todo:revision steering limit
+        if pub_vehiclestatus is not None:
+            pub_vehiclestatus.publish(vehicle_msg)
 
 
 def listener():
@@ -36,7 +43,10 @@ def listener():
     rospy.Subscriber("/canbus", lgsvl.CanBusData, canCallBack)
 
     pub_velocity = rospy.Publisher("/current_velocity", geomsg.TwistStamped, queue_size=10)
-    pub_vehiclestatus=rospy.Publisher("/vehicle_status", autoware.VehicleStatus, queue_size=10)
+    if autoware_installed is True:
+        pub_vehiclestatus=rospy.Publisher("/vehicle_status", autoware.VehicleStatus, queue_size=10)
+    else:
+        rospy.logwarn("Autoware is not installed")
     rospy.loginfo("current_velocity and vehicle_status are publishing")
 
     rospy.spin()