add ros2 socketcan interface

WATonomous · Jul 2, 2024 · d874e1b · d874e1b
1 parent ccb7ff1
commit d874e1b
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Showing 26 changed files with 1,321 additions and 858 deletions.
diff --git a/docker/interfacing/sensor_interfacing/sensor_interfacing.Dockerfile b/docker/interfacing/sensor_interfacing/sensor_interfacing.Dockerfile
@@ -33,6 +33,14 @@ WORKDIR /
 RUN apt-get -qq autoremove -y && apt-get -qq autoclean && apt-get -qq clean && \
     rm -rf /root/* /root/.ros /tmp/* /var/lib/apt/lists/* /usr/share/doc/*
 
+RUN apt update &&\
+    apt install software-properties-common -y &&\
+    add-apt-repository ppa:lely/ppa -y &&\
+    apt update &&\
+    apt install net-tools iproute2 can-utils kmod liblely-coapp-dev liblely-co-tools python3-dcf-tools -y
+
+RUN apt install -y ros-$ROS_DISTRO-ros2-socketcan
+
 ################################ Build ################################
 FROM dependencies as build
 

diff --git a/modules/dev_overrides/docker-compose.interfacing.yaml b/modules/dev_overrides/docker-compose.interfacing.yaml
@@ -13,7 +13,7 @@ services:
     image: "${INTERFACING_SENSOR_IMAGE}:build_${TAG}"
     command: tail -F anything
     volumes:
-      - ${MONO_DIR}/src/sensor_interfacing:/home/bolty/ament_ws/src/sensor_interfacing
+      - ${MONO_DIR}/src/interfacing/sensor_interfacing:/home/bolty/ament_ws/src/sensor_interfacing
 
   can_interfacing:
     <<: *fixuid

diff --git a/modules/docker-compose.interfacing.yaml b/modules/docker-compose.interfacing.yaml
@@ -9,6 +9,12 @@ services:
         - "${INTERFACING_SENSOR_IMAGE}:build_${TAG}"
         - "${INTERFACING_SENSOR_IMAGE}:build_main"
       target: deploy
+    environment:
+      VCAN_TARGET_PORT: 6002
+    ports:
+      - 6001:6000/udp
+    cap_add:
+      - NET_ADMIN
     image: "${INTERFACING_SENSOR_IMAGE}:${TAG}"
     command: /bin/bash -c "ros2 launch sensor_interfacing sensor_interfacing.launch.py"
 

diff --git a/...terfacing/sensor_interfacing/continental_ars408/include/radar_conti_ars_408_component.hpp b/...terfacing/sensor_interfacing/continental_ars408/include/radar_conti_ars_408_component.hpp
diff --git a/src/interfacing/sensor_interfacing/continental_ars408/launch/radar_driver.launch b/src/interfacing/sensor_interfacing/continental_ars408/launch/radar_driver.launch