README.md

gui_lexus ROS2 package

ROS2 GUI for Lexus

Build

It is assumed that the workspace is ~/ros2_ws/. Tested on Ubuntu 22.04 ROS2 Humble.

Terminal 1 🟢 pip

Pyqtgraph (PyQt5) is needed, tested on Python 3.10.6.

pip install pyqtgraph # or pip3

Terminal 1 🟢 clone

cd ~/ros2_ws/src
git clone https://github.com/jkk-research/gui_lexus

Terminal 1 🟢 build

cd ~/ros2_ws
colcon build --packages-select gui_lexus

Terminal 2 🔵 run

source ~/ros2_ws/install/local_setup.bash
ros2 run gui_lexus control_vehicle
ros2 launch gui_lexus only_gui.launch.py
ros2 launch gui_lexus foxglove_bridge_launch.xml

CAN - PACMod3

• Install Pacmod3
• Install Kvaser

ros2 interface show pacmod3_msgs/msg/SystemCmdFloat

Useful

dev@u22glx:~$ colcon_cd gui_lexus
dev@u22glx:~/ros2_ws/src/gui_lexus(main)$ 

ros2 topic pub /pacmod/parsed_tx/vehicle_speed_rpt pacmod3_msgs/msg/VehicleSpeedRpt "{header: {stamp: {sec: 0, nanosec: 0}, frame_id: 'map'}, vehicle_speed: 0.1, vehicle_speed_valid: true}"