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This section explains how to set up the configuration for a custom CAN parsing node. Depending on the available information about the vehicle CAN protocol, there are three types of CAN parsing available.

  • Minimal parsing where we only have information about the vehicle speed CAN message.

  • Separate External separate four wheel speed parsing, velocity sign information may be added if the gear stick reading is available.

  • Parsing ExternalWithSteering parsing with steering model information, there are two ways to specify the steering tables depending on the information available: steering wheel angle vs (right or left) wheel angles or steering wheel angle vs average wheel angles. Using this data we can perform linear interpolation to compute the wheel angles for any given steering angle and use it for Ackermann steering.

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Code Block
    "vehicle": {
      "type": "Automotive",
      "vehicleStateEndpoint": "tcp://*:8999",
      "settings": {
        "canInterface": "Internal",
        "canEndpoint": "tcp://localhost:9921",        
        "vehicleType": "Minimal",
        "canProtocol": {
          "velocityCanId": 209,
          "velocityScale": 0.015625012,
          "endianness": "little",
          "velocityBitsLength": 16,
          "velocityStartBit": 0
        }
      }
    }

Vehicle Parsing with Separate Wheel Velocities
Anchor
Vehicle-Parsing-with-Separate-Wheel-Velocities
Vehicle-Parsing-with-Separate-Wheel-Velocities

Parameter name

Description

Default

canInterface

CAN bus interface, supported values are "PeakCAN" and "Vector"

PeakCAN

vehicleType

Used to specify the parser type, available values are:

"Minimal", "External" and "ExternalWithSteering"

n/a

wheelBase

Distance between front and back wheels.

n/a

trackWidth

Distance between right and left back wheels.

n/a

velocityCanId

CAN id for the velocities message

n/a

velocityScale

Value to multiply the parsed raw velocities by in order to get velocities in m/s.

1.0

velocityStartBits

Within this parameter, one need to specify the starting bits of each wheel velocity "FrontLeftWheel", "FrontRightWheel", "RearLeftWheel"and "RearRightWheel" .

0, 16, 32, 48

respectively.

velocityBitsLength

Number of bits used for each wheel velocity encoding.

16

endianness

Specify if the CAN data endianness is "little" or "big" .

little

driveModel

When no steering information is available, only Differential model can be used.

Differential

canEndpoint

Output endpoint of Vehicle data. This parameter is optional.

tcp://*:8802

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