Autoware custom backup

This repository backs up the full Autoware source tree from this machine, the top-level workspace files, and the driver/config files that were modified to support the GPS and mower CAN setup.

Contents

• src/...
• workspace_root/autoware.ai.repos
• workspace_root/tf.launch
• workspace_root/pcanbasic_dbg.log
• system/opt/ros/melodic/share/novatel_oem7_driver/...
• system/etc/modprobe.d/...
• system/etc/udev/rules.d/...
• system/peakcan-installed-files.txt
• archive/trash_snapshot/install/share/novatel_oem7_driver/...
• patches/novatel_oem7_driver/*.patch
• patches/peak-linux-driver/*.patch

What each area is for

• src/ mirrors /home/cats/autoware.ai/src and is the main source backup.
• workspace_root/ contains important top-level files from /home/cats/autoware.ai.
• system/.../novatel_oem7_driver is the current live NovAtel driver config from /opt/ros.
• system/etc/... contains the live PEAK/PCAN driver configuration from /etc.
• system/peakcan-installed-files.txt records the installed PEAK libraries, tools, and kernel modules.
• archive/trash_snapshot/.../novatel_oem7_driver is an older deleted snapshot of the driver config that had additional edits.
• patches/novatel_oem7_driver contains readable diffs against the stock apt package.
• patches/peak-linux-driver contains readable diffs for the PEAK/PCAN setup and the local ROS-side PCAN header changes.

Full source backup scope

• src/ includes all source packages currently under the Autoware workspace, including:
  • src/autoware/...
  • src/drivers/...
  • src/car_demo/...
  • src/citysim/...
• nested .git directories inside the workspace source tree are intentionally excluded so this backup stays a single readable git repository

Current live NovAtel driver changes

• launch/oem7_net.launch: receiver IP set to 192.168.88.29, port set to 2000
• config/std_driver_config.xml: loads config/ext_parameteres.yaml
• config/ext_parameteres.yaml: included because it is part of the active config path

Archived older NovAtel snapshot changes

• same IP and port override as the live copy
• std_driver_config.xml: also comments out oem7_supported_imus.yaml
• ext_parameteres.yaml: changes NMEA log rate from 1 second to 0.1 second

PEAK/PCAN setup

• The machine has a manual install of peak-linux-driver-8.16.0.
• The system uses the PEAK vendor pcan stack and PCANBasic, not only the kernel peak_usb SocketCAN driver.
• system/etc/modprobe.d/blacklist-peak.conf blacklists the mainline peak_usb driver so the vendor pcan driver can claim the USB adapter.
• system/etc/modprobe.d/pcan.conf is the installed PEAK module config.
• system/etc/udev/rules.d/45-pcan.rules is the installed PEAK udev rule set.
• patches/peak-linux-driver/local-peakcan-changes.patch shows:
  • the local diff between the PEAK source pcan.conf and the installed /etc/modprobe.d/pcan.conf
  • the local diff between an older pcan_pci_c.h copy and the mower_ros header used in Autoware

Package metadata

• system/novatel-packages.txt records the installed NovAtel ROS packages
• system/novatel-driver-verification.txt records which /opt/ros files differ from the apt package

Restore

• Copy files under src/ back into the matching locations under an Autoware source tree.
• Copy files under workspace_root/ back into the workspace root if needed.
• Copy files under system/opt/ros/... back into /opt/ros/... if you need the live driver overrides.
• Review patches/novatel_oem7_driver/*.patch first if you want to re-apply only the NovAtel diffs instead of replacing full files.

Scope

This is a source/config backup. It does not include build/, install/, or log/ from the Autoware workspace.