CARMA on-Car Training¶

This is the tutorial for CARMA on-car training.

1 Preparation¶

Current CARMA version: V 4.2.0

Before running CARMA, we need to have the GPS module ready first, by ready, it means that the RTK mode of GPS module should be ready.

Step 1: Insert the nano-sim card into the GPS cardlepoint module

Tools:
- SIM card slot - For inserting into the GPS module and also fit nano-SIM card.
- Phillips screwdriver - For opening the cover of the SIM card.
As shown in the picture, the red box is where GPS cardlepoint module located in our black Lincoln:

You need to open the cover of the SIM card on GPS module with Phillips screwdriver.
Insert the nano sim card into the normal SIM card slot.
Insert the normal SIM card into the cardlepoint SIM card slot, as shown in the picture below:

You need to use Phillips screwdriver to screw the cover box back in, and you should be able to see the signal LED is flashing.
When the signal LED turns into blue, it means that the SIM card service is on-line.

Step 2: Connect wire

Tools:
- 232-USB cable - For connecting the GPS module with the laptop
As shown in the figure below, you need to connect the 232-USB cable with the COM1 cable:

Step 3: GPS software preparation

Tools:
- A windows Laptop - For setting up the GPS module
You need to download a software called: Novatel Connect on your laptop.

2 Low-level Control Modification¶

Warning

You only need to do this step for the new vehicle. You only need to do it once for a new Ubuntu system.

[TBD]

Step: Check the image

Navigate to lincoln_mkz folder
Inside the docker_compose.yml, uncomment some container and run only
- ros basic
- ssc controller

3 Change the map¶

Nvigate to /opt/carma/maps
Check the link by using the following command:

ls -ln

You should be able to see the following:

  lrwxrwxrwx 1    0    0        13 Dec  7 09:59 pcd_map.pcd -> entry_405.pcd
  lrwxrwxrwx 1    0    0        16 Dec  7 13:33 vector_map.osm -> entry_405_1r.osm

If you need to assign a new pcd map and vector map, you need to unlink the soft link first:

sudo rm pcd_map.pcd
sudo rm vector_map.osm

Link the new maps with the above two links:

sudo ln -s new_xxx.pcd pcd_map.pcd
sudo ln -s new_xxx.osm vector_map.osm

Replace new_xxx.pcd with your new pcd map.
Replace new_xxx.osm with your new vector map.

Visualize Vector maps¶

To check the vector map, use JOSM:JAVA Open Street Map to visualize vector map.

From the app center, click the JOSM icon:

Here is what it looks like in the JOSM interface:

Change the route¶

Step 1: Visualize map

To change the route, you need to visualize your vector map in JOSM.

Step 2: map projection for new maps

After you open the osm in the JOSM, click the edit > preferemce:

Select Map Projection from the left manual, then select Custom Projection from the right side of the drop-down manual. As shown below:

lat, log -> utm

Step 3: Copy geoReference infomation

From your osm vector map file, there is a one line of code looks like this:

<geoReference>+proj=tmerc +lat_0=34.067086 +lon_0=-118.4610826 +k=1 +x_0=0 +y_0=0 +datum=WGS84 +units=m +geoidgrids=egm96_15.gtx +vunits=m +no_defs </geoReference>

Copy the following content to the JOSM window as shown in the below.

Copy:

tmerc +lat_0=34.067086 +lon_0=-118.4610826 +k=1 +x_0=0 +y_0=0 +datum=WGS84 +units=m +geoidgrids=egm96_15.gtx +vunits=m +no_defs

To:

Step 3: Select the node

Select a node point in the vector map and use it as your destination.

Step 4: Get the position

Click the node and click Move node from the drop down manual.

Step 5: Copy the latitude and longitude of the node point

You will see the following window:

4 Change the speed limit¶

Warning

This step is important before you run your program.

For different scenarios, you need to change the speed limit in order to fit the correct speed limit. For example:

On the parking lot, the speed limit is about 10 miles/hour.
On the normal city road, the speed limit is about 35 miles/hour.

To change the speed limit, you need to:

Navigate to /home/carma/carma_ws/src/carma-config/Lincoln_mkz_2021 directory.
Open VehicleConfigParams.yaml in your favorable editor.
Navigate to the following line:

# Parameter to enable configurable speed limit
# Value type: Desired
config_speed_limit: 35.0

Change the config_speed_limit parameter and then save the file.
Rebuild your Lincoln_mkz_2021 image:
Navigate to /home/carma/carma_ws/src/carma-config/Lincoln_mkz_2021
In the terminal, type the following command:
```
./build-image.sh
```
After your image build is done, you will see a image tag of this image, in the terminal:
```
carma config set [image tag]
```

5 Software running¶

Step 1: Set up configuration

In lincoln_mkz image,

Step 2: Start CARMA

Open a terminal and start CARMA

carma start all

Step 3: Start RVIZ

Start RVIZ in another terminal
Select the carma_default.rviz for viewing the map and current car location.

Step 4: Select a route

Open the browser and input the localhost to open CARMA interface.
Activate Debug mode.
Start CARMA
Select route from the left manual

Step 5: Check the route and start

Go to your RVIZ.
Check the route from the RVIZ interface.
Click the big start from the browser and activate vehicle

6 Commands¶

The following are some common commands:

carma start all
carma stop all
docker container ls
docker exec -it [container_id] bash
# in the container
cd /opt/carma
source install/setup.bash

[container_id] is something you will need to change into your container id.

7 Issues¶

When the vehicle cannot move, in the CARMA interface website, when you select route and it says "Route generated failed", probably because:

Your vehicle is not on the lane where you can see those way points
On the vector map, the lane line type is "solid" instead of "dash", go to the osm file and change it directly from there.(Please do not save it from JOSM)