Please provide the following info (check/uncheck the boxes after creating this topic):
Software Version
DRIVE OS Linux 5.2.6
DRIVE OS Linux 5.2.6 and DriveWorks 4.0
DRIVE OS Linux 5.2.0
DRIVE OS Linux 5.2.0 and DriveWorks 3.5
NVIDIA DRIVE™ Software 10.0 (Linux)
NVIDIA DRIVE™ Software 9.0 (Linux)
other DRIVE OS version
other
Target Operating System
Linux
QNX
other
Hardware Platform
NVIDIA DRIVE™ AGX Xavier DevKit (E3550)
NVIDIA DRIVE™ AGX Pegasus DevKit (E3550)
other
SDK Manager Version
1.7.0.8846
other
Host Machine Version
native Ubuntu 18.04
other
We have Dataspeed DBW system integrated with the vehicle. Dataspeed DBW works fine including throttle and brake independently with the vehicle with USB CAN provided by Dataspeed.
When the vehicle is connected to Drive AGX CAN1 (CAN 6/4), we are able send command to enable, disable, steering, gears (forward, reverse and neutral) commands using vehicle I/O and they work fine. However, when we send the brake and throttle commands, the dwVehicleIOState state remains unchanged and there is no visible indication on vehicle.
Please note that we are using Polaris vehicle integrated with Dataspeed DBW and we are using joystick (Logitech Gamepad F310) for sending the commands. We have also set the driving mode to DW_VEHICLEIO_DRIVING_NO_SAFETY.
Please find below the rig file used.
{
“rig”: {
“vehicleio”: [
{
“type”: “dataspeed”,
“parent-sensor”: “can:vehicle:dataspeed”,
“dbc-file”: “/home/nvidia/driveworks/samples/sensors/can/DataspeedByWire-POLARIS-20210921.dbc”
}
],
“sensors”: [
{
“name”: “can:vehicle:dataspeed”,
“parameter”: “device=can1”,
“protocol”: “can.socket”,
“properties”: null,
“nominalSensor2Rig”: { “quaternion”: [ 0.0, 0.0, 0.0, 1.0 ], “t”: [ 0.0, 0.0, 0.0 ] },
“sensor2Rig”: { “quaternion”: [ 0.0, 0.0, 0.0, 1.0 ], “t”: [ 0.0, 0.0, 0.0 ] }
}
],
“vehicle”: {
“valid”: true,
“value”: {
“axlebaseFront”: 1.62699997425079,
“axlebaseRear”: 1.61800003051758,
“bumperFront”: 0.912000000476837,
“bumperRear”: 0.0,
“centerOfMassToRearAxle”: 0.0,
“driveByWireTimeConstant”: 0.26,
“driveByWireTimeDelay”: 0.11,
“frontCorneringStiffness”: 0.0,
“height”: 1.854,
“inertia”: 0.0,
“length”: 2.62,
“mass”: 0.0,
“rearCorneringStiffness”: 0.0,
“steeringCoefficient”: 16.2,
“wheelDiameter”: 0.73,
“wheelbase”: 1.75,
“width”: 1.41,
“widthWithMirrors”: 0.0
}
}
},
“version”: 2
}
Please find below the logs captured which shows that the command is send to vehicle for brake and throttle but the dwVehicleIOState values remain unchanged. One thing that was noticed was dwVehicleIOState throttle value has some random data.
VehicleIO sample: Status
steeringWheelAngle: 0.000000
throttleValue: 0.216251
brake value: 0.000000
faults: 0
overrides: 0
m_cmd.throttleValue value: 0.555132
m_cmd.throttleValue value: 0.555132
m_cmd.throttleValue value: 0.555132
m_cmd.throttleValue value: 0.555132
m_cmd.throttleValue value: 0.555132
m_cmd.throttleValue value: 0.555132
m_cmd.throttleValue value: 0.555132
m_cmd.throttleValue value: 0.555132
m_cmd.throttleValue value: 0.555132
m_cmd.throttleValue value: 0.555132
m_cmd.throttleValue value: 0.555132
m_cmd.throttleValue value: 0.527573
VehicleIO sample: Status
steeringWheelAngle: 0.000000
throttleValue: 0.214664
brake value: 0.000000
faults: 0
overrides: 0
m_cmd.throttleValue value: 0.527573
m_cmd.throttleValue value: 0.527573
m_cmd.throttleValue value: 0.527573
m_cmd.throttleValue value: 0.527573
m_cmd.throttleValue value: 0.527573
m_cmd.throttleValue value: 0.527573
m_cmd.throttleValue value: 0.527573
m_cmd.throttleValue value: 0.527573
m_cmd.throttleValue value: 0.5197
m_cmd.throttleValue value: 0.5197
m_cmd.throttleValue value: 0.5197
m_cmd.throttleValue value: 0.507889
m_cmd.throttleValue value: 0.507889
m_cmd.throttleValue value: 0.507889
VehicleIO sample: Status
steeringWheelAngle: 0.000000
throttleValue: 0.214420
brake value: 0.000000
faults: 0
overrides: 0
m_cmd.throttleValue value: 0.507889
m_cmd.throttleValue value: 0.507889
m_cmd.throttleValue value: 0.507889
m_cmd.throttleValue value: 0.507889
m_cmd.throttleValue value: 0.507889
m_cmd.throttleValue value: 0.507889
m_cmd.throttleValue value: 0.507889
m_cmd.throttleValue value: 0.507889
m_cmd.throttleValue value: 0.547258
m_cmd.throttleValue value: 0.547258
m_cmd.throttleValue value: 0.547258
VehicleIO sample: Status
steeringWheelAngle: 0.000000
throttleValue: 0.215518
brake value: 0.000000
faults: 0
overrides: 0
m_cmd.throttleValue value: 0.547258
m_cmd.throttleValue value: 0.590564
m_cmd.throttleValue value: 0.653554
m_cmd.throttleValue value: 0.653554
m_cmd.throttleValue value: 0.653554
m_cmd.throttleValue value: 0.653554
m_cmd.throttleValue value: 0.653554
m_cmd.throttleValue value: 0.653554
m_cmd.throttleValue value: 0.653554
m_cmd.throttleValue value: 0.653554
m_cmd.throttleValue value: 0.653554
m_cmd.throttleValue value: 0.653554
m_cmd.throttleValue value: 0.720481
m_cmd.throttleValue value: 0.720481
m_cmd.throttleValue value: 0.720481
VehicleIO sample: Status
steeringWheelAngle: 0.000000
throttleValue: 0.215396
brake value: 0.000000
faults: 0
overrides: 0
m_cmd.throttleValue value: 0.720481
m_cmd.throttleValue value: 0.720481
m_cmd.throttleValue value: 0.783486
m_cmd.throttleValue value: 0.783486
m_cmd.throttleValue value: 0.783486
m_cmd.throttleValue value: 0.783486
m_cmd.throttleValue value: 0.846477
m_cmd.throttleValue value: 0.846477
m_cmd.throttleValue value: 0.846477
m_cmd.throttleValue value: 0.846477
VehicleIO sample: Status
steeringWheelAngle: 0.000000
throttleValue: 0.214664
brake value: 0.000000
faults: 0
overrides: 0
m_cmd.brakeValue value: 0.181097
m_cmd.brakeValue value: 0.181097
m_cmd.brakeValue value: 0.181097
m_cmd.brakeValue value: 0.299219
m_cmd.brakeValue value: 0.299219
m_cmd.brakeValue value: 0.299219
m_cmd.brakeValue value: 0.299219
m_cmd.brakeValue value: 0.299219
m_cmd.brakeValue value: 0.425199
m_cmd.brakeValue value: 0.425199
m_cmd.brakeValue value: 0.425199
m_cmd.brakeValue value: 0.425199
m_cmd.brakeValue value: 0.425199
VehicleIO sample: Status
steeringWheelAngle: 0.000000
throttleValue: 0.215396
brake value: 0.000000
faults: 0
overrides: 0
m_cmd.brakeValue value: 0.551195
m_cmd.brakeValue value: 0.551195
m_cmd.brakeValue value: 0.551195
m_cmd.brakeValue value: 0.551195
m_cmd.brakeValue value: 0.551195
m_cmd.brakeValue value: 0.677175
m_cmd.brakeValue value: 0.677175
m_cmd.brakeValue value: 0.677175
m_cmd.brakeValue value: 0.79136
m_cmd.brakeValue value: 0.79136
VehicleIO sample: Status
steeringWheelAngle: 0.000000
throttleValue: 0.215396
brake value: 0.000000
faults: 0
overrides: 0
Any inputs here will be helpful.
BR
Hitesh