Autonomous control a vehicle in Cognata simulation

MAKE SURE TO SOURCE ROS2 IN EACH TERMINAL

How to run the joy_node subscriber

Open a new terminal

ros2 run joy joy_node

How to control the wheel from the Keyboard

Open a new terminal

cd AlonBarak-Joy_ws/ros2_ws
source install/setup.bash
ros2 run ros_g29_force_feedback g29_force_feedback

4. open a new terminal
5. cd AlonBarak-dev/ros_ws
6. run the next command:

source install/setup.bash

7. cd src/ros-g29-force-feedback/script
8. run the next command:

python3 talker_shovalsus.py

How to run the python Publisher

MAKE SURE THE PACKAGE 'python_publisher' IS BUILT

Note: if usage is at the lab CPU - $ cd copy/

Open a new terminal

cd ROS2Sample
source install/setup.bash
cd .. && cd python_publisher_ws/python_publisher
source install/setup.bash
ros2 run python_publisher publisher

How to start the Cognata station-simulation

1. Open a new terminal

cd cognataStation
./CognataStation-2022.1.4.AppImage

2. Go to Scenarios
3. Quick start try1_now
4. Choose "shovaltry" in Ego car sensors preset
5. Go to Summary
6. Click Generate

How to run the Cognata linked-code

Open a new terminal

Note: if usage is at the lab CPU - $ cd copy/

cd to ROS2Sample
source install/setup.bash
ros2 run cognata_sdk_ros2 ROS2SDK 10.2.2.57 3056

How to run the ACC

make sure the pkg -pyhton_publisher- is built

Note: if usage is at the lab CPU - $ cd copy/

1. cd ROS2Sample/src
2. open a new terminal
3. run the next command:

colcon build

3. run the next command:

source install/setup.bash

5. run the next command:

ros2 run python_publisher acc

How to run the RCC

1. cd copy/ROS2Sample
2. colcon build
3. source install/setup.bash

• For recording a scenario: create an enviorment variable Named ACTION choose the lane to record

 export LANE_ID=<lane_id>

  export ACTION=RECORD

• For playing a scenario: create an enviorment variable named ACTION

  export ACTION=PLAY

4. run the ros2 node : rcc

ros2 run python_publisher rcc

How to run the Idan driver

1. cd copy/idan_driver_ws
2. colcon build
3. source install/setup.bash
4. run the next command:

ros2 run idan_driver sender_exe

5. run the next command:

ros2 run idan_driver listener_exe

6. run the next command:

ros2 run idan_driver can_communication_titan_exe

Note: the path info is located into a file named - path.txt