Matthew Nice
Jonathan Sprinkle
ABSTRACT
This paper introduces CAN to ROS, a model-based code generation tool used in development, testing, and deployment of a heterogeneous fleet of vehicles with robotic sensing in ROS. Code generation supports two main features: (1) self-configuration for deployment in a heterogeneous vehicle fleet, and (2) quick iteration for testing and development of reading vehicle sensors and robotic control. This tool features the ability to detect the vehicle it is in and regenerate and rebuild itself at runtime to provide the proper two-way bridge between ROS and the sensed on-board vehicle sensor network. Code generation relies on a per-model defined JSON to map a CAN database (DBC) to the desired ROS topic names and message types. The live ROS publishing of CAN messages allows for instant feedback, and the code regeneration allows for adjustments in DBC or vehicle JSON to iteratively hone in on new vehicle signals. Generated ROS nodes are written in C++ for runtime use in lightweight embedded computers. This has been tested in vehicles from three different Original Equipment Manufacturers (OEMs), and can be extended to support a wide array of vehicles. By using a unifying ROS specification, a heterogeneous set of vehicles can be unified into a fleet with abstracted model-specific details; this opens the door for developing cross-model software applications for vehicle control, connected vehicle applications, or fleet monitoring systems.
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Cross Ref
- Rahul Bhadani, Matt Bunting, Matthew Nice, Ngoc Minh Tran, Safwan Elmadani, Dan Work, and Jonathan Sprinkle. 2022. Strym: A python package for real-time can data logging, analysis and visualization to work with usb-can interface. In 2022 2nd Workshop on Data-Driven and Intelligent Cyber-Physical Systems for Smart Cities Workshop (DI-CPS). IEEE, Nashville,TN, 14–23.Google ScholarCross Ref
- Matthew Bunting, Rahul Bhadani, and Jonathan Sprinkle. 2021. Libpanda: A High Performance Library for Vehicle Data Collection. In Proceedings of the Workshop on Data-Driven and Intelligent Cyber-Physical Systems. IEEE, Nashville,TN, 32–40.Google ScholarDigital Library
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Index Terms
- Middleware for a Heterogeneous CAV Fleet
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