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Feature/arussim interface/control sim #302

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c87293c
Merge pull request #231 from ARUSfs/develop
alvarolp02 Apr 26, 2025
7d595f9
Merge pull request #260 from ARUSfs/develop
alvarolp02 May 25, 2025
09c605d
Merge pull request #299 from ARUSfs/develop
alvarolp02 Sep 3, 2025
52bd6f0
feat: add can interface exec
carmenmenendezda Oct 20, 2025
6b893b4
feat: delete unused topics at arussim
carmenmenendezda Oct 20, 2025
ecb8d56
feat: send delta cmd by CAN, and delete arussim interface
carmenmenendezda Oct 27, 2025
ff32b08
feat: use can_interface topics
carmenmenendezda Oct 29, 2025
0cac9ec
feat: delete arussim_interface completely
carmenmenendezda Nov 12, 2025
3892462
fix: wheelspeeds scale
carmenmenendezda Nov 13, 2025
aa30d8e
fix: delete killer at simulation
carmenmenendezda Nov 13, 2025
d02ae9e
fix: send as_status without killing processes
jmlp05 Nov 14, 2025
8fc0e42
fix: dlc at id 222
carmenmenendezda Nov 16, 2025
450369a
fix: create bus can at common meta launchs
carmenmenendezda Nov 25, 2025
a2e3e17
fix: fix inverter message bit limits
jmlp05 Dec 30, 2025
c5d8c51
fix: correct inverter speed message format
jmlp05 Jan 5, 2026
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66 changes: 52 additions & 14 deletions src/common/common_meta/launch/sim_acceleration_launch.py
View file
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Original file line number Diff line number Diff line change
@@ -1,38 +1,76 @@
import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import ExecuteProcess
from launch.actions import ExecuteProcess, RegisterEventHandler
from launch.event_handlers import OnProcessExit
from launch_ros.actions import Node


def generate_launch_description():
modprobe_vcan = ExecuteProcess(
cmd=['sudo', 'modprobe', 'vcan'],
shell=False
)
create_can0 = ExecuteProcess(
cmd=['bash', '-c', "ip link show can0 >/dev/null 2>&1 || sudo ip link add dev can0 type vcan"],
shell=False
)
up_can0 = ExecuteProcess(
cmd=['sudo', 'ip', 'link', 'set', 'up', 'can0'],
shell=False
)
create_can1 = ExecuteProcess(
cmd=['bash', '-c', "ip link show can1 >/dev/null 2>&1 || sudo ip link add dev can1 type vcan"],
shell=False
)
up_can1 = ExecuteProcess(
cmd=['sudo', 'ip', 'link', 'set', 'up', 'can1'],
shell=False
)
can_sequence = [
RegisterEventHandler(
OnProcessExit(target_action=modprobe_vcan, on_exit=[create_can0])
),
RegisterEventHandler(
OnProcessExit(target_action=create_can0, on_exit=[up_can0])
),
RegisterEventHandler(
OnProcessExit(target_action=up_can0, on_exit=[create_can1])
),
RegisterEventHandler(
OnProcessExit(target_action=create_can1, on_exit=[up_can1])
)
]

return LaunchDescription([
modprobe_vcan,
*can_sequence,
create_node(pkg='acc_planning',
params=[{'target_speed': 15.0,
'max_acc': 5.0,
'max_dec': 5.0,
params=[{'target_speed': 50.0,
'max_acc': 15.0,
'max_dec': 10.0,
'track_length': 75.0,
'finish_offset': 2.0,
'debug': False}]),
create_node(pkg='controller',
params=[{'trajectory_topic': "/acc_planning/trajectory",
'min_cmd': -5.0,
'max_cmd': 5.0,
'min_cmd': -15.0,
'max_cmd': 25.0,
'look_ahead_distance': 8.0,
'debug': False}]),
create_node(pkg='visualization'),
create_node(pkg='arussim_interface'),
create_node(pkg='can_interface',
params=[{'simulation': True}]),
create_node(pkg='car_state',
params=[{'simulation': True,
'mission': 'acceleration',
'extensometer_topic': '/arussim/extensometer',
'imu_ax_topic': '/arussim/IMU/ax',
'imu_ay_topic': '/arussim/IMU/ay',
'imu_r_topic': '/arussim/IMU/yaw_rate',
'control_vx_topic': '/arussim/control_vx',
'control_vy_topic': '/arussim/control_vy',
'control_r_topic': '/arussim/control_r',
'extensometer_topic': '/can_interface/extensometer',
'imu_ax_topic': '/can_interface/IMU/ax',
'imu_ay_topic': '/can_interface/IMU/ay',
'imu_r_topic': '/can_interface/IMU/yaw_rate',
'control_vx_topic': '/can_interface/control_vx',
'control_vy_topic': '/can_interface/control_vy',
'control_r_topic': '/can_interface/control_r',
'debug': False}]),
create_node(pkg='graph_slam',
params=[{'lidar_topic': '/arussim/perception',
Expand Down
56 changes: 47 additions & 9 deletions src/common/common_meta/launch/sim_autocross_launch.py
View file
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Original file line number Diff line number Diff line change
@@ -1,13 +1,50 @@
import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import ExecuteProcess
from launch.actions import ExecuteProcess, RegisterEventHandler
from launch.event_handlers import OnProcessExit
from launch_ros.actions import Node


def generate_launch_description():
modprobe_vcan = ExecuteProcess(
cmd=['sudo', 'modprobe', 'vcan'],
shell=False
)
create_can0 = ExecuteProcess(
cmd=['bash', '-c', "ip link show can0 >/dev/null 2>&1 || sudo ip link add dev can0 type vcan"],
shell=False
)
up_can0 = ExecuteProcess(
cmd=['sudo', 'ip', 'link', 'set', 'up', 'can0'],
shell=False
)
create_can1 = ExecuteProcess(
cmd=['bash', '-c', "ip link show can1 >/dev/null 2>&1 || sudo ip link add dev can1 type vcan"],
shell=False
)
up_can1 = ExecuteProcess(
cmd=['sudo', 'ip', 'link', 'set', 'up', 'can1'],
shell=False
)
can_sequence = [
RegisterEventHandler(
OnProcessExit(target_action=modprobe_vcan, on_exit=[create_can0])
),
RegisterEventHandler(
OnProcessExit(target_action=create_can0, on_exit=[up_can0])
),
RegisterEventHandler(
OnProcessExit(target_action=up_can0, on_exit=[create_can1])
),
RegisterEventHandler(
OnProcessExit(target_action=create_can1, on_exit=[up_can1])
)
]

return LaunchDescription([
modprobe_vcan,
*can_sequence,
create_node(pkg='path_planning',
params=[{'v_max': 7.0,
'ax_max': 5.0,
Expand All @@ -21,17 +58,18 @@ def generate_launch_description():
'first_lap_steer_control': "PP",
'debug': False}]),
create_node(pkg='visualization'),
create_node(pkg='arussim_interface'),
create_node(pkg='can_interface',
params=[{'simulation': True}]),
create_node(pkg='car_state',
params=[{'simulation': True,
'mission': 'autocross',
'extensometer_topic': '/arussim/extensometer',
'imu_ax_topic': '/arussim/IMU/ax',
'imu_ay_topic': '/arussim/IMU/ay',
'imu_r_topic': '/arussim/IMU/yaw_rate',
'control_vx_topic': '/arussim/control_vx',
'control_vy_topic': '/arussim/control_vy',
'control_r_topic': '/arussim/control_r',
'extensometer_topic': '/can_interface/extensometer',
'imu_ax_topic': '/can_interface/IMU/ax',
'imu_ay_topic': '/can_interface/IMU/ay',
'imu_r_topic': '/can_interface/IMU/yaw_rate',
'control_vx_topic': '/can_interface/control_vx',
'control_vy_topic': '/can_interface/control_vy',
'control_r_topic': '/can_interface/control_r',
'debug': False}]),
create_node(pkg='graph_slam',
params=[{'lidar_topic': '/arussim/perception',
Expand Down
56 changes: 47 additions & 9 deletions src/common/common_meta/launch/sim_ebs_test.py
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,13 +1,50 @@
import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import ExecuteProcess
from launch.actions import ExecuteProcess, RegisterEventHandler
from launch.event_handlers import OnProcessExit
from launch_ros.actions import Node


def generate_launch_description():
modprobe_vcan = ExecuteProcess(
cmd=['sudo', 'modprobe', 'vcan'],
shell=False
)
create_can0 = ExecuteProcess(
cmd=['bash', '-c', "ip link show can0 >/dev/null 2>&1 || sudo ip link add dev can0 type vcan"],
shell=False
)
up_can0 = ExecuteProcess(
cmd=['sudo', 'ip', 'link', 'set', 'up', 'can0'],
shell=False
)
create_can1 = ExecuteProcess(
cmd=['bash', '-c', "ip link show can1 >/dev/null 2>&1 || sudo ip link add dev can1 type vcan"],
shell=False
)
up_can1 = ExecuteProcess(
cmd=['sudo', 'ip', 'link', 'set', 'up', 'can1'],
shell=False
)
can_sequence = [
RegisterEventHandler(
OnProcessExit(target_action=modprobe_vcan, on_exit=[create_can0])
),
RegisterEventHandler(
OnProcessExit(target_action=create_can0, on_exit=[up_can0])
),
RegisterEventHandler(
OnProcessExit(target_action=up_can0, on_exit=[create_can1])
),
RegisterEventHandler(
OnProcessExit(target_action=create_can1, on_exit=[up_can1])
)
]

return LaunchDescription([
modprobe_vcan,
*can_sequence,
create_node(pkg='acc_planning',
params=[{'target_speed': 12.0,
'max_acc': 4.2,
Expand All @@ -21,17 +58,18 @@ def generate_launch_description():
'look_ahead_distance': 8.0,
'debug': True}]),
create_node(pkg='visualization'),
create_node(pkg='arussim_interface'),
create_node(pkg='can_interface',
params=[{'simulation': True}]),
create_node(pkg='car_state',
params=[{'simulation': True,
'mission': 'acceleration',
'extensometer_topic': '/arussim/extensometer',
'imu_ax_topic': '/arussim/IMU/ax',
'imu_ay_topic': '/arussim/IMU/ay',
'imu_r_topic': '/arussim/IMU/yaw_rate',
'control_vx_topic': '/arussim/control_vx',
'control_vy_topic': '/arussim/control_vy',
'control_r_topic': '/arussim/control_r',
'extensometer_topic': '/can_interface/extensometer',
'imu_ax_topic': '/can_interface/IMU/ax',
'imu_ay_topic': '/can_interface/IMU/ay',
'imu_r_topic': '/can_interface/IMU/yaw_rate',
'control_vx_topic': '/can_interface/control_vx',
'control_vy_topic': '/can_interface/control_vy',
'control_r_topic': '/can_interface/control_r',
'debug': False}]),
create_node(pkg='graph_slam',
params=[{'lidar_topic': '/arussim/perception',
Expand Down
56 changes: 47 additions & 9 deletions src/common/common_meta/launch/sim_skidpad_launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,13 +1,50 @@
import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import ExecuteProcess
from launch.actions import ExecuteProcess, RegisterEventHandler
from launch.event_handlers import OnProcessExit
from launch_ros.actions import Node


def generate_launch_description():
modprobe_vcan = ExecuteProcess(
cmd=['sudo', 'modprobe', 'vcan'],
shell=False
)
create_can0 = ExecuteProcess(
cmd=['bash', '-c', "ip link show can0 >/dev/null 2>&1 || sudo ip link add dev can0 type vcan"],
shell=False
)
up_can0 = ExecuteProcess(
cmd=['sudo', 'ip', 'link', 'set', 'up', 'can0'],
shell=False
)
create_can1 = ExecuteProcess(
cmd=['bash', '-c', "ip link show can1 >/dev/null 2>&1 || sudo ip link add dev can1 type vcan"],
shell=False
)
up_can1 = ExecuteProcess(
cmd=['sudo', 'ip', 'link', 'set', 'up', 'can1'],
shell=False
)
can_sequence = [
RegisterEventHandler(
OnProcessExit(target_action=modprobe_vcan, on_exit=[create_can0])
),
RegisterEventHandler(
OnProcessExit(target_action=create_can0, on_exit=[up_can0])
),
RegisterEventHandler(
OnProcessExit(target_action=up_can0, on_exit=[create_can1])
),
RegisterEventHandler(
OnProcessExit(target_action=create_can1, on_exit=[up_can1])
)
]

return LaunchDescription([
modprobe_vcan,
*can_sequence,
create_node(pkg='skidpad_planning',
params=[{'target_first_lap': 7.0,
'target_second_lap': 10.0,
Expand All @@ -25,17 +62,18 @@ def generate_launch_description():
'look_ahead_distance': 6.0,
'debug': False}]),
create_node(pkg='visualization'),
create_node(pkg='arussim_interface'),
create_node(pkg='can_interface',
params=[{'simulation': True}]),
create_node(pkg='car_state',
params=[{'simulation': True,
'mission': 'skidpad',
'extensometer_topic': '/arussim/extensometer',
'imu_ax_topic': '/arussim/IMU/ax',
'imu_ay_topic': '/arussim/IMU/ay',
'imu_r_topic': '/arussim/IMU/yaw_rate',
'control_vx_topic': '/arussim/control_vx',
'control_vy_topic': '/arussim/control_vy',
'control_r_topic': '/arussim/control_r',
'extensometer_topic': '/can_interface/extensometer',
'imu_ax_topic': '/can_interface/IMU/ax',
'imu_ay_topic': '/can_interface/IMU/ay',
'imu_r_topic': '/can_interface/IMU/yaw_rate',
'control_vx_topic': '/can_interface/control_vx',
'control_vy_topic': '/can_interface/control_vy',
'control_r_topic': '/can_interface/control_r',
'debug': False}]),
create_node(pkg='graph_slam',
params=[{'lidar_topic': '/arussim/perception',
Expand Down
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