Difference between revisions of "2021FallTeam6"
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== Our Code == | == Our Code == | ||
You can find the GitHub repository to our code here: | You can find the GitHub repository to our code here: https://github.com/LiamEFowler/ECE-MAE-148-Group5.5-Black-Ice | ||
In summary, we added a talker node on the lead car, a listener node on the follower car and the according launch files. In the talker node, we implemented a module to read the output of the IMU, filter it for the axis of acceleration that was interesting for us (frontal deceleration) and publish a message if the threshold was met. In the listener node we implemented a module that, if a specific message was received, called a function in the lane_guidance_node. In the Lane_guidance_node, we had to implement the function that could be called from the listener node and which stopped the car. | In summary, we added a talker node on the lead car, a listener node on the follower car and the according launch files. In the talker node, we implemented a module to read the output of the IMU, filter it for the axis of acceleration that was interesting for us (frontal deceleration) and publish a message if the threshold was met. In the listener node we implemented a module that, if a specific message was received, called a function in the lane_guidance_node. In the Lane_guidance_node, we had to implement the function that could be called from the listener node and which stopped the car. | ||
== Summary and learnings == | == Summary and learnings == | ||
Revision as of 01:54, 10 December 2021
Team Members
Team 5.5 consists of the former two-person teams 5 and 6. We've built everything separately except for the final project where we collaborated to make v2v communication work.
Team 5:
Zoey
Jason
Team 6:
Liam Fowler
Johannes Diehm
Mechanical
Circuit design
Donkey Car Laps
ROS2 Laps
Our Project
We want to develop a module in ROS that enables vehicle to vehicle communication via ROS. Our project consists of two cars: The lead car and the follower car. If the lead car should crash, it shall send a message to the follower car which causes it to stop. This should prevent that the follower car crashes into the same obstacle. For sensing the crash, we use an accelerometer (IMU) in the lead car. If a specific threshold in deceleration is met, the car should publish a message over ROS communication. If the follower car receives this specific message, it should cause an immediate stop.
Our Code
You can find the GitHub repository to our code here: https://github.com/LiamEFowler/ECE-MAE-148-Group5.5-Black-Ice
In summary, we added a talker node on the lead car, a listener node on the follower car and the according launch files. In the talker node, we implemented a module to read the output of the IMU, filter it for the axis of acceleration that was interesting for us (frontal deceleration) and publish a message if the threshold was met. In the listener node we implemented a module that, if a specific message was received, called a function in the lane_guidance_node. In the Lane_guidance_node, we had to implement the function that could be called from the listener node and which stopped the car.