dbw_ros

ROS2 interface to Dataspeed drive-by-wire platforms with modern DBW2 firmware. See here for legacy DBW1 firmware support

Launch

• Joystick demo with drive-by-wire
  • ros2 launch ds_dbw_joystick_demo joystick_demo.launch.xml sys:=true
  • See joystick_demo.launch.xml for a complete list of args
  • See documentation
• Drive-by-wire only
  • ros2 launch ds_dbw_can dbw.launch.xml
  • See dbw.launch.xml for a complete list of args

Socketcan

Add dataspeed_can:=false socketcan:=true socketcan_dev:=can0 to the launch commands above to use socketcan hardware instead of the Dataspeed USB CAN Tool. Make sure to initialize the socketcan device and set the bitrate to 500k first.

Binaries

• ROS buildfarm with infrequent updates:
  • http://repo.ros2.org/status_page/ros_jazzy_default.html?q=dbw_ros
  • http://repo.ros2.org/status_page/ros_humble_default.html?q=dbw_ros
• Dataspeed buildfarm with frequent updates:
  • https://bitbucket.org/DataspeedInc/ros_binaries/

One Line Install (binary)

• Use this option to install ROS2 package binaries on a workstation that already has ROS2 installed.
• Paste the following into a terminal to install the binary packages. This script will configure apt-get to connect to the Dataspeed server and install the binary packages.
• bash <(wget -q -O - https://bitbucket.org/DataspeedInc/dbw_ros/raw/ros2/ds_dbw/scripts/sdk_install.bash)

One Line ROS2 and Packages Install (binary)

• Use this option to install ROS2 and this SDK on a clean Ubuntu install.
• This should ONLY be run on a fresh install of Ubuntu Desktop 24.04/22.04.
• Paste the following into a terminal to install ROS2 and this SDK. This script will change some operating system parameters, install ROS2 Jazzy/Humble, install the SDK, and configure the joystick demo with rviz to run at startup.
• bash <(wget -q -O - https://bitbucket.org/DataspeedInc/dbw_ros/raw/ros2/ds_dbw/scripts/ros_install.bash)