YMC

The controller package for vehicles manufactured by Yamaha Motor Co., Ltd.

g30esli_interface

Yamaha Golfcar Academic Pack version of G30Es-Li has the By-wire ECU based on CAN communication. CAN message format is private, so we provide CAN communication and parsing functions as a binary g30esli.a in ymc package.

This node has two modes and some condition of transition as in this figure. If you press throttle or brake pedal, By-wire mode is forced to transition to Manual Mode (override function).

• Control Mode: If you use a joystick, the command to a vehicle is able to be selected.
  • Autoware Mode: CAN commands are generated following /vehicle_cmd topic.
  • Joystick Mode: CAN commands are generated following /ds4 topic.
• By-wire Mode: You can change to enable/disable By-wire mode.
  • Auto Mode: A vehicle allows to be controlled by CAN commands.
  • Manual Mode: You can drive as usual.

How to Use

1. Confirm safety around your vehicle.

2. Launch Autoware nodes and check to correctly provide /vehicle_cmd topic.

3. Connect and setup CAN interface. (NOTE: We generally use PEAK System PCAN-USB)

$ rosrun ymc canset up canX

4-1. Launch g30esli_interface node.

$ roslaunch ymc g30esli_interface.launch device:=canX

And then your car should move by vehicle_cmd topic.

4-2. If you want to use DS4 joystick, launch with use_ds4 option and connect your joystick controller.

$ roslaunch ymc g30esli_interface.launch device:=canX use_ds4:=true ds4_wired:=true   ## USB

or

$ roslaunch ymc g30esli_interface.launch device:=canX use_ds4:=true ds4_wired:=false  ## Bluetooth

And then, your car should move by joystick controller. For controlling by vehicle_cmd, press PS button.

DS4 Button Binding

| Button | Description | | — | — | | CROSS | Send speed ( 3 <= v <= 19 [km/h] ), change to JOYSTICK mode | | SQUARE | Smooth brake, change to JOYSTICK mode | | CIRCLE | Semi-emergency brake | | TRIANGLE | Emergency brake | | R1 | Reverse shift | | L1 | Neutral shift | | R2 | Change speed linearly ( v = 16 * R2 + 3 [km/h] ) | | L2 | Change max steering linearly ( theta = (17 * L2 + 20) * ANALOG_L [deg] ) | | ANALOG_L | Steering angle ( -37 <= theta <= +37 [deg] ) | | DIGITAL_UP / LEFT / RIGHT / DOWN | Blinker clear / left / right / hazard | | SHARE | Engage vehicle | | OPTION | Disengage vehicle | | PS | change to AUTO mode |

Please see ds4 package to know installation and details.

Parameters

Subscriptions/Publications

Node [/g30esli_interface]
Publications:
 * /vehicle/battery [std_msgs/Float32]
 * /vehicle/twist [geometry_msgs/TwistStamped]
 * /vehicle_status [autoware_msgs/VehicleStatus]

Subscriptions:
 * /vehicle/engage [std_msgs/Bool]
 * /vehicle_cmd [autoware_msgs/VehicleCmd]

Changelog for package ymc

1.11.0 (2019-03-21)

• [fix] Install commands for all the packages (#1861)

  • Initial fixes to detection, sensing, semantics and utils

  • fixing wrong filename on install command

  • Fixes to install commands

  • Hokuyo fix name

  • Fix obj db

  • Obj db include fixes

  • End of final cleaning sweep

  • Incorrect command order in runtime manager

  • Param tempfile not required by runtime_manager

  • • Fixes to runtime manager install commands

  • Remove devel directory from catkin, if any

  • Updated launch files for robosense

  • Updated robosense

  • Fix/add missing install (#1977)

  • Added launch install to lidar_kf_contour_track

  • Added install to op_global_planner

  • Added install to way_planner

  • Added install to op_local_planner

  • Added install to op_simulation_package

  • Added install to op_utilities

  • Added install to sync

  • • Improved installation script for pointgrey packages

  • Fixed nodelet error for gmsl cameras

  • USe install space in catkin as well

  • add install to catkin

  • Fix install directives (#1990)

  • Fixed installation path

  • Fixed params installation path

  • Fixed cfg installation path

  • Delete cache on colcon_release
• Fix license notice in corresponding package.xml
• Contributors: Abraham Monrroy Cano, amc-nu

1.10.0 (2019-01-17)

• Fixes for catkin_make
• Switch to Apache 2 license (develop branch) (#1741)
  • Switch to Apache 2

  * Replace BSD-3 license header with Apache 2 and reassign copyright to the Autoware Foundation.

  • Update license on Python files
  • Update copyright years
  • Add #ifndef/define _POINTS_IMAGE_H_
  • Updated license comment
• Use colcon as the build tool (#1704)
  • Switch to colcon as the build tool instead of catkin
  • Added cmake-target
  • Added note about the second colcon call
  • Added warning about catkin* scripts being deprecated
  • Fix COLCON_OPTS
  • Added install targets
  • Update Docker image tags
  • Message packages fixes
  • Fix missing dependency
• Add steering offset parameter
• Add catkin dependency
• Apply clang-format
• Replace twist_cmd -> vehicle_cmd on ymc interface
• Contributors: Akihito Ohsato, Esteve Fernandez, amc-nu

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