Package Summary

Tags No category tags.
Version 1.1.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://bitbucket.org/dataspeedinc/dbw_mkz_ros
VCS Type hg
VCS Version default
Last Updated 2018-12-06
Dev Status DEVELOPED
Released RELEASED

Package Description

Drive-by-wire interface to the Dataspeed Inc. Lincoln MKZ DBW kit

Additional Links

Maintainers

  • Kevin Hallenbeck

Authors

  • Kevin Hallenbeck
README
No README found. See repository README.
CHANGELOG

Changelog for package dbw_mkz_can

1.1.0 (2018-11-30)

  • Updated firmware versions
  • Removed all BOO control options and manually implemented auto BOO control for legacy firmware (brake lights)
  • Added BTYPE (brake type) bit
  • Added CMD_DECEL brake command type (only for non-hybrid platforms)
  • Replaced dbw_mkz_twist_controller with dataspeed_ulc_can in dbw.launch
  • Added throttlePercentFromPedal lookup table function and corresponding test
  • Use the \${catkin_EXPORTED_TARGETS} macro for target dependencies
  • Added DriverAssistReport message
  • Contributors: Kevin Hallenbeck, Micho Radovnikovich

1.0.17 (2018-10-27)

  • Updated firmware versions
  • Updated list of platforms
  • Disengage on any fault for brake/throttle/steering (change AND to OR)
  • Added outside air temperature to Misc1Report
  • Latch firmware version on any change (previously only latched once)
  • Changed pedal_luts default from true to false (forward command type by default now)
  • Fixed handling of all the firmware/module requrements for brake command type CMD_TORQUE_RQ
  • Disregard overrides on unused subsystems using the TIMEOUT bit
  • Fixed typo in nodelets.xml of dbw_mkz_can
  • Finished unit tests of PlatformMap
  • Use sign of wheel speeds to set sign of vehicle speed, fixes issue #24
  • Set CXX_STANDARD to C++11 only when necessary
  • Contributors: Kevin Hallenbeck, Micho Radovnikovich

1.0.16 (2018-08-29)

  • Force compiler to use C++11
  • Handle version message with a map/database of several platform/module combinations
  • Implemented firmware version requirements for forwarding pedal command type
  • Contributors: Kevin Hallenbeck

1.0.15 (2018-08-21)

  • Updated firmware versions
  • Contributors: Kevin Hallenbeck

1.0.14 (2018-08-20)

  • Updated firmware versions
  • Enabled code coverage testing when built as debug
  • Increased the steering command range to +-INT16_MAX, the specific range limit is applied by the firmware
  • Skip warning about brake and throttle commands when the reserved bit is set
  • Match CAN messages 0x060 to 0x07F even though some are unused
  • Capitalized the COUNT field to match code style
  • Added parameter for local/embedded pedal LUTs
  • Added option to forward higher level pedal commands (percent/torque) to the embedded modules
  • Added unit tests for exported header files
  • Extracted sonar color to a separate function
  • Added missing include
  • Contributors: Kevin Hallenbeck

1.0.13 (2018-06-06)

  • Updated firmware versions
  • Added option to enable/disable warnings on received command messages
  • Added support for the RES+ and RES- buttons
  • Added explicit casts to float
  • Added firmware version of separate shifting module
  • Contributors: Kevin Hallenbeck

1.0.12 (2018-01-30)

  • Updated firmware versions
  • Moved ModuleVersion class and look-up-tables to exported header files (for use by other packages)
  • Added power fault bit to report when modules lose power
  • Added missing warning about steering fault preventing enable
  • Added roslaunch argument to set use_sim_time or not
  • Added roslaunch tests
  • Only warn once for each unknown module version
  • Contributors: Kevin Hallenbeck

1.0.11 (2017-10-19)

  • Updated firmware versions
  • Added missing dependencies
  • Contributors: Kevin Hallenbeck

1.0.10 (2017-10-03)

  • Updated steering firmware version
  • Renamed feature name
  • Contributors: Kevin Hallenbeck

1.0.9 (2017-09-19)

  • Added warning to update old firmware
  • Added link to request a license
  • Added more detail to fault warnings
  • Contributors: Kevin Hallenbeck

1.0.8 (2017-09-07)

  • Migrated from dataspeed_can_msgs to can_msgs
  • Contributors: Kevin Hallenbeck

1.0.7 (2017-08-21)

  • Removed steering report driver activity bit
  • Replaced connector fault with timeout, and warn on timeout
  • Keep track of module firmware versions
  • Added gear rejection enumeration to gear report
  • Added licensing and VIN
  • Added wheel positions report (replaces suspension report)
  • Added option to use buttons for enable/disable, or not
  • Added enable button combination for Mondeo without ACC (set_dec and cc_res)
  • Added steering wheel left D-Pad buttons
  • Updated ackermann steering parameters (including steering ratio)
  • Prioritize the local include folder (there were issues with catkin workspace overlays)
  • Fixed accel orientation to match the ROS standard
  • Contributors: Kevin Hallenbeck, Micho Radovnikovich

1.0.6 (2017-06-21)

  • Added frame_id parameter for IMU and Twist messages
  • Properly handle IMU unknown covariance and fields that are not present
  • Removed SuspensionReport (data was unintelligible)
  • Reorganized launch files.
  • Swapped lateral and longitudinal acceleration in IMU message.
  • Export dispatch.h for use by other packages
  • Added clear bit to command messages
  • Updated nodelet to the PLUGINLIB_EXPORT_CLASS macro
  • Additional dependencies
  • Contributors: Kevin Hallenbeck, Micho Radovnikovich

1.0.5 (2017-04-25)

  • Updated package.xml format to version 2
  • Unique target names
  • Contributors: Kevin Hallenbeck

1.0.4 (2016-12-06)

  • Added brake and throttle thrashing scripts to try and induce faults
  • Changed wheel speeds to signed values
  • Contributors: Kevin Hallenbeck, Joshua Whitley

1.0.3 (2016-11-17)

  • Added QUIET bit to disable driver override audible warning
  • Print brake/throttle/steering firmware versions
  • Handle and report steering faults (FLTBUS1 and FLTBUS2)
  • Contributors: Kevin Hallenbeck

1.0.2 (2016-11-07)

  • Configurable steering ratio
  • Contributors: Kevin Hallenbeck

1.0.1 (2016-10-10)

  • Added support for apt-get binary packages
  • Added twist message computed from vehicle speed and steering wheel angle.
  • Contributors: Kevin Hallenbeck

1.0.0 (2016-09-28)

  • Initial release
  • Contributors: Kevin Hallenbeck, Micho Radovnikovich

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Dependant Packages

No known dependants.

Launch files

  • launch/offline.launch
      • use_sim_time [default: true]
  • launch/dbw.launch
      • live [default: true]
      • load_urdf [default: true]
      • ulc [default: true]
      • vehicle_ns [default: vehicle]
      • can_ns [default: /can_bus_dbw]
      • frame_id [default: base_footprint]
      • warn_cmds [default: true]
      • buttons [default: true]
      • pedal_luts [default: false]
      • ackermann_wheelbase [default: 2.8498]
      • ackermann_track [default: 1.5824]
      • steering_ratio [default: 14.8]

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged dbw_mkz_can at answers.ros.org

Package Summary

Tags No category tags.
Version 1.1.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://bitbucket.org/dataspeedinc/dbw_mkz_ros
VCS Type hg
VCS Version default
Last Updated 2018-12-06
Dev Status DEVELOPED
Released RELEASED

Package Description

Drive-by-wire interface to the Dataspeed Inc. Lincoln MKZ DBW kit

Additional Links

Maintainers

  • Kevin Hallenbeck

Authors

  • Kevin Hallenbeck
README
No README found. See repository README.
CHANGELOG

Changelog for package dbw_mkz_can

1.1.0 (2018-11-30)

  • Updated firmware versions
  • Removed all BOO control options and manually implemented auto BOO control for legacy firmware (brake lights)
  • Added BTYPE (brake type) bit
  • Added CMD_DECEL brake command type (only for non-hybrid platforms)
  • Replaced dbw_mkz_twist_controller with dataspeed_ulc_can in dbw.launch
  • Added throttlePercentFromPedal lookup table function and corresponding test
  • Use the \${catkin_EXPORTED_TARGETS} macro for target dependencies
  • Added DriverAssistReport message
  • Contributors: Kevin Hallenbeck, Micho Radovnikovich

1.0.17 (2018-10-27)

  • Updated firmware versions
  • Updated list of platforms
  • Disengage on any fault for brake/throttle/steering (change AND to OR)
  • Added outside air temperature to Misc1Report
  • Latch firmware version on any change (previously only latched once)
  • Changed pedal_luts default from true to false (forward command type by default now)
  • Fixed handling of all the firmware/module requrements for brake command type CMD_TORQUE_RQ
  • Disregard overrides on unused subsystems using the TIMEOUT bit
  • Fixed typo in nodelets.xml of dbw_mkz_can
  • Finished unit tests of PlatformMap
  • Use sign of wheel speeds to set sign of vehicle speed, fixes issue #24
  • Set CXX_STANDARD to C++11 only when necessary
  • Contributors: Kevin Hallenbeck, Micho Radovnikovich

1.0.16 (2018-08-29)

  • Force compiler to use C++11
  • Handle version message with a map/database of several platform/module combinations
  • Implemented firmware version requirements for forwarding pedal command type
  • Contributors: Kevin Hallenbeck

1.0.15 (2018-08-21)

  • Updated firmware versions
  • Contributors: Kevin Hallenbeck

1.0.14 (2018-08-20)

  • Updated firmware versions
  • Enabled code coverage testing when built as debug
  • Increased the steering command range to +-INT16_MAX, the specific range limit is applied by the firmware
  • Skip warning about brake and throttle commands when the reserved bit is set
  • Match CAN messages 0x060 to 0x07F even though some are unused
  • Capitalized the COUNT field to match code style
  • Added parameter for local/embedded pedal LUTs
  • Added option to forward higher level pedal commands (percent/torque) to the embedded modules
  • Added unit tests for exported header files
  • Extracted sonar color to a separate function
  • Added missing include
  • Contributors: Kevin Hallenbeck

1.0.13 (2018-06-06)

  • Updated firmware versions
  • Added option to enable/disable warnings on received command messages
  • Added support for the RES+ and RES- buttons
  • Added explicit casts to float
  • Added firmware version of separate shifting module
  • Contributors: Kevin Hallenbeck

1.0.12 (2018-01-30)

  • Updated firmware versions
  • Moved ModuleVersion class and look-up-tables to exported header files (for use by other packages)
  • Added power fault bit to report when modules lose power
  • Added missing warning about steering fault preventing enable
  • Added roslaunch argument to set use_sim_time or not
  • Added roslaunch tests
  • Only warn once for each unknown module version
  • Contributors: Kevin Hallenbeck

1.0.11 (2017-10-19)

  • Updated firmware versions
  • Added missing dependencies
  • Contributors: Kevin Hallenbeck

1.0.10 (2017-10-03)

  • Updated steering firmware version
  • Renamed feature name
  • Contributors: Kevin Hallenbeck

1.0.9 (2017-09-19)

  • Added warning to update old firmware
  • Added link to request a license
  • Added more detail to fault warnings
  • Contributors: Kevin Hallenbeck

1.0.8 (2017-09-07)

  • Migrated from dataspeed_can_msgs to can_msgs
  • Contributors: Kevin Hallenbeck

1.0.7 (2017-08-21)

  • Removed steering report driver activity bit
  • Replaced connector fault with timeout, and warn on timeout
  • Keep track of module firmware versions
  • Added gear rejection enumeration to gear report
  • Added licensing and VIN
  • Added wheel positions report (replaces suspension report)
  • Added option to use buttons for enable/disable, or not
  • Added enable button combination for Mondeo without ACC (set_dec and cc_res)
  • Added steering wheel left D-Pad buttons
  • Updated ackermann steering parameters (including steering ratio)
  • Prioritize the local include folder (there were issues with catkin workspace overlays)
  • Fixed accel orientation to match the ROS standard
  • Contributors: Kevin Hallenbeck, Micho Radovnikovich

1.0.6 (2017-06-21)

  • Added frame_id parameter for IMU and Twist messages
  • Properly handle IMU unknown covariance and fields that are not present
  • Removed SuspensionReport (data was unintelligible)
  • Reorganized launch files.
  • Swapped lateral and longitudinal acceleration in IMU message.
  • Export dispatch.h for use by other packages
  • Added clear bit to command messages
  • Updated nodelet to the PLUGINLIB_EXPORT_CLASS macro
  • Additional dependencies
  • Contributors: Kevin Hallenbeck, Micho Radovnikovich

1.0.5 (2017-04-25)

  • Updated package.xml format to version 2
  • Unique target names
  • Contributors: Kevin Hallenbeck

1.0.4 (2016-12-06)

  • Added brake and throttle thrashing scripts to try and induce faults
  • Changed wheel speeds to signed values
  • Contributors: Kevin Hallenbeck, Joshua Whitley

1.0.3 (2016-11-17)

  • Added QUIET bit to disable driver override audible warning
  • Print brake/throttle/steering firmware versions
  • Handle and report steering faults (FLTBUS1 and FLTBUS2)
  • Contributors: Kevin Hallenbeck

1.0.2 (2016-11-07)

  • Configurable steering ratio
  • Contributors: Kevin Hallenbeck

1.0.1 (2016-10-10)

  • Added support for apt-get binary packages
  • Added twist message computed from vehicle speed and steering wheel angle.
  • Contributors: Kevin Hallenbeck

1.0.0 (2016-09-28)

  • Initial release
  • Contributors: Kevin Hallenbeck, Micho Radovnikovich

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Dependant Packages

No known dependants.

Launch files

  • launch/offline.launch
      • use_sim_time [default: true]
  • launch/dbw.launch
      • live [default: true]
      • load_urdf [default: true]
      • ulc [default: true]
      • vehicle_ns [default: vehicle]
      • can_ns [default: /can_bus_dbw]
      • frame_id [default: base_footprint]
      • warn_cmds [default: true]
      • buttons [default: true]
      • pedal_luts [default: false]
      • ackermann_wheelbase [default: 2.8498]
      • ackermann_track [default: 1.5824]
      • steering_ratio [default: 14.8]

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged dbw_mkz_can at answers.ros.org

Package Summary

Tags No category tags.
Version 1.1.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://bitbucket.org/dataspeedinc/dbw_mkz_ros
VCS Type hg
VCS Version default
Last Updated 2018-12-06
Dev Status DEVELOPED
Released RELEASED

Package Description

Drive-by-wire interface to the Dataspeed Inc. Lincoln MKZ DBW kit

Additional Links

Maintainers

  • Kevin Hallenbeck

Authors

  • Kevin Hallenbeck
README
No README found. See repository README.
CHANGELOG

Changelog for package dbw_mkz_can

1.1.0 (2018-11-30)

  • Updated firmware versions
  • Removed all BOO control options and manually implemented auto BOO control for legacy firmware (brake lights)
  • Added BTYPE (brake type) bit
  • Added CMD_DECEL brake command type (only for non-hybrid platforms)
  • Replaced dbw_mkz_twist_controller with dataspeed_ulc_can in dbw.launch
  • Added throttlePercentFromPedal lookup table function and corresponding test
  • Use the \${catkin_EXPORTED_TARGETS} macro for target dependencies
  • Added DriverAssistReport message
  • Contributors: Kevin Hallenbeck, Micho Radovnikovich

1.0.17 (2018-10-27)

  • Updated firmware versions
  • Updated list of platforms
  • Disengage on any fault for brake/throttle/steering (change AND to OR)
  • Added outside air temperature to Misc1Report
  • Latch firmware version on any change (previously only latched once)
  • Changed pedal_luts default from true to false (forward command type by default now)
  • Fixed handling of all the firmware/module requrements for brake command type CMD_TORQUE_RQ
  • Disregard overrides on unused subsystems using the TIMEOUT bit
  • Fixed typo in nodelets.xml of dbw_mkz_can
  • Finished unit tests of PlatformMap
  • Use sign of wheel speeds to set sign of vehicle speed, fixes issue #24
  • Set CXX_STANDARD to C++11 only when necessary
  • Contributors: Kevin Hallenbeck, Micho Radovnikovich

1.0.16 (2018-08-29)

  • Force compiler to use C++11
  • Handle version message with a map/database of several platform/module combinations
  • Implemented firmware version requirements for forwarding pedal command type
  • Contributors: Kevin Hallenbeck

1.0.15 (2018-08-21)

  • Updated firmware versions
  • Contributors: Kevin Hallenbeck

1.0.14 (2018-08-20)

  • Updated firmware versions
  • Enabled code coverage testing when built as debug
  • Increased the steering command range to +-INT16_MAX, the specific range limit is applied by the firmware
  • Skip warning about brake and throttle commands when the reserved bit is set
  • Match CAN messages 0x060 to 0x07F even though some are unused
  • Capitalized the COUNT field to match code style
  • Added parameter for local/embedded pedal LUTs
  • Added option to forward higher level pedal commands (percent/torque) to the embedded modules
  • Added unit tests for exported header files
  • Extracted sonar color to a separate function
  • Added missing include
  • Contributors: Kevin Hallenbeck

1.0.13 (2018-06-06)

  • Updated firmware versions
  • Added option to enable/disable warnings on received command messages
  • Added support for the RES+ and RES- buttons
  • Added explicit casts to float
  • Added firmware version of separate shifting module
  • Contributors: Kevin Hallenbeck

1.0.12 (2018-01-30)

  • Updated firmware versions
  • Moved ModuleVersion class and look-up-tables to exported header files (for use by other packages)
  • Added power fault bit to report when modules lose power
  • Added missing warning about steering fault preventing enable
  • Added roslaunch argument to set use_sim_time or not
  • Added roslaunch tests
  • Only warn once for each unknown module version
  • Contributors: Kevin Hallenbeck

1.0.11 (2017-10-19)

  • Updated firmware versions
  • Added missing dependencies
  • Contributors: Kevin Hallenbeck

1.0.10 (2017-10-03)

  • Updated steering firmware version
  • Renamed feature name
  • Contributors: Kevin Hallenbeck

1.0.9 (2017-09-19)

  • Added warning to update old firmware
  • Added link to request a license
  • Added more detail to fault warnings
  • Contributors: Kevin Hallenbeck

1.0.8 (2017-09-07)

  • Migrated from dataspeed_can_msgs to can_msgs
  • Contributors: Kevin Hallenbeck

1.0.7 (2017-08-21)

  • Removed steering report driver activity bit
  • Replaced connector fault with timeout, and warn on timeout
  • Keep track of module firmware versions
  • Added gear rejection enumeration to gear report
  • Added licensing and VIN
  • Added wheel positions report (replaces suspension report)
  • Added option to use buttons for enable/disable, or not
  • Added enable button combination for Mondeo without ACC (set_dec and cc_res)
  • Added steering wheel left D-Pad buttons
  • Updated ackermann steering parameters (including steering ratio)
  • Prioritize the local include folder (there were issues with catkin workspace overlays)
  • Fixed accel orientation to match the ROS standard
  • Contributors: Kevin Hallenbeck, Micho Radovnikovich

1.0.6 (2017-06-21)

  • Added frame_id parameter for IMU and Twist messages
  • Properly handle IMU unknown covariance and fields that are not present
  • Removed SuspensionReport (data was unintelligible)
  • Reorganized launch files.
  • Swapped lateral and longitudinal acceleration in IMU message.
  • Export dispatch.h for use by other packages
  • Added clear bit to command messages
  • Updated nodelet to the PLUGINLIB_EXPORT_CLASS macro
  • Additional dependencies
  • Contributors: Kevin Hallenbeck, Micho Radovnikovich

1.0.5 (2017-04-25)

  • Updated package.xml format to version 2
  • Unique target names
  • Contributors: Kevin Hallenbeck

1.0.4 (2016-12-06)

  • Added brake and throttle thrashing scripts to try and induce faults
  • Changed wheel speeds to signed values
  • Contributors: Kevin Hallenbeck, Joshua Whitley

1.0.3 (2016-11-17)

  • Added QUIET bit to disable driver override audible warning
  • Print brake/throttle/steering firmware versions
  • Handle and report steering faults (FLTBUS1 and FLTBUS2)
  • Contributors: Kevin Hallenbeck

1.0.2 (2016-11-07)

  • Configurable steering ratio
  • Contributors: Kevin Hallenbeck

1.0.1 (2016-10-10)

  • Added support for apt-get binary packages
  • Added twist message computed from vehicle speed and steering wheel angle.
  • Contributors: Kevin Hallenbeck

1.0.0 (2016-09-28)

  • Initial release
  • Contributors: Kevin Hallenbeck, Micho Radovnikovich

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Dependant Packages

No known dependants.

Launch files

  • launch/offline.launch
      • use_sim_time [default: true]
  • launch/dbw.launch
      • live [default: true]
      • load_urdf [default: true]
      • ulc [default: true]
      • vehicle_ns [default: vehicle]
      • can_ns [default: /can_bus_dbw]
      • frame_id [default: base_footprint]
      • warn_cmds [default: true]
      • buttons [default: true]
      • pedal_luts [default: false]
      • ackermann_wheelbase [default: 2.8498]
      • ackermann_track [default: 1.5824]
      • steering_ratio [default: 14.8]

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged dbw_mkz_can at answers.ros.org