This is a ros package that communicates with a vehicle through CAN

This package collects and decodes the CAN data of the vehicle. It was made out of KIA Niro hybrid 2016, Mobileye, and personal vehicle simulator. In addition, data on KIA Niro hybrid 2016 and Mobileye were collected by requesting Awesome It Co., Ltd.

• First, You need a CAN converter. (I used 'kvaser leaf light v2')
• Install this package.
• This package must be modified according to the CAN converter.

• Ubuntu 18.04 (Other versions available, but not tested)
• ROS Melodic (Other versions available, but not tested)
• Install Kvaser SDK for Ubuntu (https://www.kvaser.com/linux-drivers-and-sdk-2/)

$ tar -xvzf linuxcan.tar.gz
$ sudo apt-get install build-essential
$ cd linuxcan
$ make
$ sudo make install
$ cd canlib
$ make
$ sudo make install
$ cd ..
$ cd common
$ make
$ sudo ./installscript.sh

• Install python-can (https://python-can.readthedocs.io/en/2.1.0/index.html) with pip

$ pip install python-can

• Please change the codes' permissions in src with chmod
• Niro and Mobileye

$ roslaunch kaai_can can_all.launch

• topics :

  msg_n // raw data about Niro

  msg_m // raw data about Mobileye

  niro_can // decoded data about Niro

  mobileye_can // decoded data about Mobileye

• check the topics with rostopic

$ rostopic echo [topic]

Niro

Mobileye

• Cars :

  KIA Niro Hybrid 2016

  Mobileye 5

  Personal vehicle simulator (KaAI Lab, Kookmin Univ.)

• CAN converter :

  kvaser leaf light v2

• OS :

  Ubuntu 18.04

• ROS :

  ROS Melodic