Dear Sir,
I enter the command as below and try to enable the vehicle control system by pressing “e” button for vehicle I/O functions but get the error messages(DW_NOT_SUPPORTED) as the attachment.
Is there any parameter needed to update?
Try to enable the vehicle control system
E - enable the vehicle control system
command → /sample_vehicleio [–rig=path/to/rig/file]
- Execute as following steps
Then run the sample with this new rig.json file:
./sample_vehicleio --rig=rig.json
Using Generic VehicleIO via VCAN0 interface on Bench
If you want to use the generic vehicleio driver in a bench setup, you can use the VCAN interface.
Enable the VCAN interface.
sudo modprobe vcan
sudo ip link add dev vcan0 type vcan
sudo ip link set up vcan0
Start transmitting Dataspeed can messages over the VCAN interface.
while true; do cat candump_dataspeed.log | canplayer -l i vcan0=can0; done
Run sample_dataspeedBridge to convert Dataspeed messages to generic vehicleio messages (refer to Dataspeed Bridge Sample for details).
Prepare a rig file that has vcan0 sensor and Generic VehicleIO node (as described above), then run the sample:
./sample_vehicleio --rig=rig.json
- Error Message
Angle: -0.033161
throttleValue: 0.367437
brake value: 0.136767
faults: 0
overrides: 12
[04-09-2019 10:50:48] DataSpeed: sending DATASPEED_ID_THROTTLE_CMD message failed: DW_NOT_SUPPORTED
[04-09-2019 10:50:48] DataSpeed: sending DATASPEED_ID_BRAKE_CMD message failed: DW_NOT_SUPPORTED
[04-09-2019 10:50:48] DataSpeed: sending DATASPEED_ID_STEERING_CMD message failed: DW_NOT_SUPPORTED
[04-09-2019 10:50:48] DataSpeed: sending DATASPEED_ID_GEAR_CMD message failed: DW_NOT_SUPPORTED
[04-09-2019 10:50:48] DataSpeed: sending DATASPEED_ID_MISC1_CMD message failed: DW_NOT_SUPPORTED
[04-09-2019 10:50:48] Generic VehicleIO: send steering command failed failed: DW_NOT_SUPPORTED
[04-09-2019 10:50:48] Generic VehicleIO: send brake command failed failed: DW_NOT_SUPPORTED
[04-09-2019 10:50:48] Generic VehicleIO: send throttle command failed failed: DW_NOT_SUPPORTED
[04-09-2019 10:50:48] Generic VehicleIO: send gear command failed failed: DW_NOT_SUPPORTED
[04-09-2019 10:50:48] Generic VehicleIO: send turnsignal failed failed: DW_NOT_SUPPORTED
VehicleIO sample: Status
steeringWheelAngle: -0.022689
throttleValue: 0.364019
brake value: 0.136538
faults: 0
overrides: 12