The CanEduDev Demo Rover

The Demo Rover is a high-performance RC car created by CanEduDev, a side venture of Kvaser.

Features

1/5 Scale Size

The Demo Rover is a 1/5 scale model of a real car. Its large size makes it perfect for outdoor driving and demonstrations, providing a visually impressive presence.

Easy Hardware Mounting

The vehicle is equipped with numerous mounting points, allowing for the easy attachment of various sensors, cameras, and other hardware. This makes it highly adaptable for research, development, and a wide range of projects.

CAN Communication System

The Demo Rover utilizes CAN (Controller Area Network) communication. This enables efficient and reliable data exchange between multiple electronic devices.

Powerful Performance

The Demo Rover can reach speeds of up to 40 km/h. This high performance allows for extensive testing of high-speed driving and obstacle avoidance in large open areas.

If you need more detailed information, please refer to the page linked below. Demo Rover web page

Integrating Demo Rover and Autoware

Autoware

Autoware is the open-source software project for autonomous driving. If you want to know more about it, you should refer to the documentation of Autoware. Autoware Documentation

Integrate

The URL below shows how to integrate Autoware. Integrating Autoware

1. Requirements

To integrate Autoware and Demo Rover, you will need:

• CAN adapter
• Kvaser SDK
• Sensors
  • 3D Lidar sensor
  • (option) Camera
  • (option) IMU
  • (option) GNSS
• Packages for Demo Rover (ROS2)
  • Vehicle Interface
  • Vehicle Launch
  • Sensor Kit Launch

You can either create original Demo Rover packages or use this repository we have created.

2. Setup

You have two options for installing Autoware:

Source Installation Documentation

Docker Installation Documentation

(Source Installation)
setup instructions provided below are specifically for source installation. We have used a Kvaser USBcan Pro 2xHS v2, Velodyne VLP-32 LiDAR and an Xsens IMU in our setup.

step 1:install Kvaser SDK

1. install Kvaser SDK here

cd ~/Downloads
tar xvzf linuxcan_5_45_724.tar.gz 
cd linuxcan
make
sudo make install 

2. install Linux SDK Library here

cd ~/Downloads
tar xvzf kvlibsdk_5_45_724.tar.gz 
cd kvlibsdk/
make 
sudo make install

Step 2: Clone our repository:

# Clone the repository
git clone https://github.com/iASL-Gifu/canedudev_rover_autoware.git
cd ~/canedudev_rover_autoware

step 3: Install dependencies for Autoware:

If you have already installed the NVIDIA driver, it is recommended to edit the amd64.env file and specify the version of CUDA manually.

#Install all dependencies
./setup-dev-env.sh
#If you have already installed Nvidia-driver, cuda, cudnn, TensorRT
./setup-dev-env.sh --no-nvidia 

Warning

This script includes the installation of NVIDIA drivers, CUDA, cudnn and TensorRT. Please be careful if you have already installed them, as there might be version conflicts.

step 4: Construct the workspace and clone repositories

cd ~/cd canedudev_rover_autoware
mkdir src
vcs import src < autoware.repos

step 5: Install dependencies of ROS2

source /opt/ros/humble/setup.bash
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO

step 6: Build the workspace

colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

step 7: launch autoware

ros2 launch autoware_launch autoware.launch.xml map_path:=<absolute map path>