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Enabling UDP multicast with multiple network interfaces

If your computing unit provides several network interfaces, it is recommended to specify the route to the UDP multicast network:

sudo route add 225.0.0.0/24 dev eno1

where eno1 is the network interface that shall be used by odsupercomponent.

Setting up Peak CAN device in Linux

To use the Peak CAN device with OpenDaVINCI and OpenDLV, it is important to disable the NETDEV support (cf. http://www.peak-system.com/fileadmin/media/linux/index.htm):

make clean; make NET=NO_NETDEV_SUPPORT; make install

You can check by running

cat /proc/pcan

and check if the column "ndev" says "-NA-".

Next, it is required to define the correct bitrate (https://www.peak-system.com/fileadmin/media/linux/files/Installation-en_ab6.9.pdf). Therefore, the parameter "btr" needs to be set in /etc/modprobe.conf (depending on the Linux distribution):

options pcan btr=0x011c

0x011c would represent 250k.

Unloading the device driver:

rmmod pcan

Loading the device driver:

modprobe pcan

Braking with the truck

To brake the truck, one has to send a negative acceleration in the BrakeRequest message.

Accelerating the truck

To accelerate the truck, one has to send a desired acceleration pedal position as percentage value between 0 and 100.

Steering the truck

To steer the truck using the delta torque message, the roadwheelangle field needs to be set to 35.535.