如何进入手动驾驶模式？

[BlueHeart6]

如何进入手动驾驶模式？

[daohu527]

I assume you want to control the vehicle via commands?

canbus

There is already a tool modules/canbus/tools/teleop.cc, which send control commands directly to the vehicle chassis through the keyboard.

It can meet your requirements, but it is usually used for chassis testing, if you want to use it for testing, pay attention to safety

[BlueHeart6]

请问这个工具该怎么使用呢

[BlueHeart6]

teleop.cc中的
control_command_.set_reset_model(false);
control_command_.set_driving_mode(Chassis::COMPLETE_MANUAL); 这两个函数在编译时会提示已经不再使用

[BlueHeart6]

driving_mode: COMPLETE_AUTO_DRIVE 我现在可以通过teleop发送控制信息 但是canbus的输出里面还是自动驾驶模式 我也无法控制汽车

[daohu527]

Normally you can only control the car in autonomous mode. The vehicle does not know whether your command is from the autonomous driving system or from teleop.

Therefore, you need to enter the automatic driving mode first, and then send commands. Some vehicles have requirements for entering automatic driving. You can check