This repository contains packages, code and documentation on how we hacked the "Coffee Car" for the PixMoving MoveIt Hackathon. The Coffee Car is in fact a striped down and modified Kaiyun Pickman (also rebranded as a Lifan C3) electric pickup truck.
To learn more about the CAN hacking process check out our little HACKING guide here.
- Uses an XBox controller as an input device
- Full steering control via an angle command (control algorithm inside the VCU)
- Throttle and braking control via a speed command (control algorithm inside the VCU)
- Control algorithm gain scheduling to avoid steering and speed oscillations depending of speed and vehicle loading. Could have been achieved via a new VCU firmware which would have allowed to chnage the PID gains live via a CAN command.
- PCAN USB or any other SocketCan compatible device
- PixMoving MoveIt Hackathon's Coffee Car
- Decent laptop + Xbox Controller
- Python 2.7
- ROS Kinetic
- Ubuntu 16.04
- PCAN linux driver follow the pdf guide to build and install the driver
- can-utils package
sudo apt-get install can-utils - Socket-can bridge :
sudo apt-get install ros-kinetic-socketcan-bridge - can_msgs :
sudo apt-get install ros-kinetic-can-msgs - cantools library :
pip install cantools
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