Overview

The GMPS Driver is a ROS2 Driver for GMPS sensor.

GMPS sensor <--(CAN)--> USB-CAN I/F <--(socketCAN)--> ros2_socketcan <--(can_msgs::Frame)--> gmps_driver

Requirements

• Host device
  • Linux OS: Ubuntu 22.04
  • ROS2: humble
• Other packages
  • gmps_msgs
  • can_msgs
  • ros2_socketcan
  • autoware_auto_vehicle_msgs

Launch

# enable socketCAN  
$ sudo modprobe can_dev
$ sudo modprobe can 
$ sudo modprobe can_raw 
$ sudo ip link set can0 type can bitrate 500000
$ sudo ip link set up can0

# launch ros2_socketcan   
$ ros2 launch ros2_socketcan socket_can_bridge.launch.xml

# launch gmps_driver  
$ ros2 launch gmps_driver gmps_driver

Nodes

Subscribed Topics

• in_gmps_can_frame (can_msgs/Frame)
  CAN messages from CAN bus.

• in_velocity (autoware_auto_vehicle_msgs/VelocityReport)
  Vehicle speed.

• in_soft_reset (std_msgs/Bool)
  Reboot GMPS sensor.

Published Topics

• out_gmps_can_frame (can_msgs/Frame)
  CAN messages to CAN bus.

• out_gmps_detect (gmps_msgs/GmpsDetect)
  GMPS sensor ouput, which means lateral deviation from detected magnetic marker.

• out_gmps_error (gmps_msgs/GmpsError)
  GMPS sensor error.

Parameter description

The parameters are set in launch/gmps_driver.launch.xml .

Name	Type	Description
offset_search_mode	bool	Launch this node for sensor calibration.
delay_dist	double	Delay distance from the center of a magnetic marker [m]
watchdog_timeout	double	Threshold for watchdog timer [s]