Vehicle-Logging-SocketCAN

• Simultaneous logging system for vehicle CAN (C-CAN/RTK) via P-CAN interface, Hesai LiDAR, and RealSense camera based on ROS2 Humble
• Logs all raw vehicle data via candump and rosbag (CanFrame messages)
• Selectable signal parsing and topic monitoring based on DBC definitions

Environment

• Ubuntu 22.04
• ROS2 Humble
• LiDAR : Hesai - Pandar64
• Camera : RealSense - D435

Install

sudo apt install can-utils ros-humble-realsense2-camera ros-humble-compressed-image-transport

DBC Pull

git submodule update --init --recursive   # dbc/ 가 비어 있을 때

CAN Interface Setting

sudo ip link set can0 up type can bitrate 500000   # bitrate는 차량 사양에 맞게
candump can0                                       # 수신 확인

Hesai LiDAR Sensor Setting

1. Logging PC IP Configuration

• LiDAR Sensor IP - 192.168.1.201

Address : 192.168.1.100
Netmask : 255.255.255.0
Gateway : 192.168.1.1

2. Local Setting

xhost +local:root # 도커에서 rviz 실행 명령어 입력시 동작할 수 있도록

3. Docker Setting

echo $DISPLAY # 출력 결과 "0"이 아닐 경우 ex. localhost:10.0 등인 경우 아래 명령어 실행
export DISPLAY=:0

Build

colcon build --symlink-install
source install/setup.bash

Execute Command

source install/setup.bash
ros2 launch logging_manager logging_bringup.launch.py