Subscribe to pacmod_interface in simulation mode

[lhakim85]

I'm successfully run the planning simulation and my goal is to connect the autoware with real vehicle.

Refer to below pic [taken from here https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-architecture/node-diagram/]

I try to subscribe to pacmod_interface topic when running in planning simulation, but nothing show?
My question is how can i see the output of the pacmod_interface when the autoware is running

[kenji-miyake]

pacmod_interface requires a real PACMod device, so it's not supported in planning simulation.

To connect your real vehicle, I think it's good to write your hardware configuration in order to get the right support.

[lhakim85]

@kenji-miyake

Green box in pic above refer to pacmod device right? What is the type of connection (Red cycle) between autoware pc with this device, serial/Can?

Because i'm quite confuse right now, refer to launch file that u share, this node will launch pacmod service and open can0 connection.

[kenji-miyake]

Green box in pic above refer to pacmod device right?

Mm, I guess it expresses both a device and a ROS node.
The ROS node converts CAN messages into /pacmod/* topics.

What is the type of connection (Red cycle) between autoware pc with this device, serial/Can?

I think it's CAN.

[lhakim85]

@kenji-miyake,
Thanks for the answer

It seems /vehicle/command/actuation_cmd is published by raw_vehicle_cmd_converter, which isn't supported in planning simulation.

I try launch raw_vehicle_converter.launch.xml seperately, and can see the topic and also data from that topic.

Then, I try launch pacmod_interface.xml, the topic is there, but no data when subscribe to e.g /pacmod/accel_cmd.
Below topic is from autoware feed to pacmod interface right?

this topic is to feed to pacmod interface then pacmod driver convert it to CAN message right?
Any other node that need to start so that I can read /pacmod/accel_cmd

[kenji-miyake]

I guess you need the real device, and input the necessary data to work pacmod_interface correctly.

Please refer to the following lines.
https://github.com/tier4/pacmod_interface/blob/ea9b7456d5be63bf425208a0405b26ba6a85e2e6/pacmod_interface/src/pacmod_interface/pacmod_interface.cpp#L357
https://github.com/tier4/pacmod_interface/blob/ea9b7456d5be63bf425208a0405b26ba6a85e2e6/pacmod_interface/src/pacmod_interface/pacmod_interface.cpp#L455

[lhakim85]

@kenji-miyake
Thanks for the answer kenji