dbw_ros

ROS2 interface to Dataspeed drive-by-wire platforms

Launch

• Joystick demo
  • DBW2: ros2 launch ds_dbw_joystick_demo joystick_demo.launch.xml sys:=true
  • DBW1 FCA: ros2 launch dbw_fca_joystick_demo joystick_demo.launch.xml sys:=true
  • DBW1 Ford: ros2 launch dbw_ford_joystick_demo joystick_demo.launch.xml sys:=true
  • DBW1 Polaris: ros2 launch dbw_polaris_joystick_demo joystick_demo.launch.xml sys:=true
• Drive-by-wire only
  • DBW2: ros2 launch ds_dbw_can dbw.launch.xml
  • DBW1 FCA: ros2 launch dbw_fca_can dbw.launch.xml
  • DBW1 Ford: ros2 launch dbw_ford_can dbw.launch.xml
  • DBW1 Polaris: ros2 launch dbw_polaris_can dbw.launch.xml
• RViz visualization
  • DBW1 FCA: ros2 launch dbw_fca_description rviz.launch.xml
  • DBW1 Ford: ros2 launch dbw_ford_description rviz.launch.xml
  • DBW1 Polaris: ros2 launch dbw_polaris_description rviz.launch.xml

Binaries

• ROS buildfarm with infrequent updates:
  • 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.
• DBW2: bash <(wget -q -O - https://bitbucket.org/DataspeedInc/dbw_ros/raw/ros2/ds_dbw/scripts/sdk_install.bash)
• FCA: bash <(wget -q -O - https://bitbucket.org/DataspeedInc/dbw_ros/raw/ros2/dbw_fca/scripts/sdk_install.bash)
• Ford: bash <(wget -q -O - https://bitbucket.org/DataspeedInc/dbw_ros/raw/ros2/dbw_ford/scripts/sdk_install.bash)
• Polaris: bash <(wget -q -O - https://bitbucket.org/DataspeedInc/dbw_ros/raw/ros2/dbw_polaris/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 22.04/20.04.
• Paste the following into a terminal to install ROS2 and this SDK. This script will change some operating system parameters, install ROS2 Humble/Foxy, install the SDK, and configure the joystick demo with rviz to run at startup.
• DBW2: bash <(wget -q -O - https://bitbucket.org/DataspeedInc/dbw_ros/raw/ros2/ds_dbw/scripts/ros_install.bash)
• FCA: bash <(wget -q -O - https://bitbucket.org/DataspeedInc/dbw_ros/raw/ros2/dbw_fca/scripts/ros_install.bash)
• Ford: bash <(wget -q -O - https://bitbucket.org/DataspeedInc/dbw_ros/raw/ros2/dbw_ford/scripts/ros_install.bash)
• Polaris: bash <(wget -q -O - https://bitbucket.org/DataspeedInc/dbw_ros/raw/ros2/dbw_polaris/scripts/ros_install.bash)