Merge branch 'main' into supervisor_computer

README.md

@@ -1,85 +1,7 @@
-# Rgator_supervisor_computer_ws
- supervisor computer: localization, control, and vehicle interface
-
- perception computer: sensor interface, perception, and planning
-
-
-## ROS2 Packages:
-
-### dbw: 
-- dbw: subscribe control command
-- dbw_read: subscribe control command; read CAN bus data, convert to ROS2 topic
-
-### joy_control: 
-  - joy_control: subscribe joystick input and publish contorl command  
-
-### dbw_msgs: 
-  - Dbw: define control command
-  - [PGNs]: vehicle CAN bus data msg
-
-### vectornav:
-  - vectornav: gnss-ins-imu driver
-  - vectornav_msgs: gnss-ins-imu msg
-
-### gps_nav:
-  - pid: control vehicle speed only
-  - pp_pid: pure pursuit for steering control, pid for speed control
-  - track_log: log x,y,heading data from imu, convert to .csv file
-  - path_visual: visualize track
-
- 
-
-## Driver Usage:
-
-### Joystick driver:
-default joystick input frequency at 20Hz:
-
-    ros2 run joy joy_node
-
-set joystick input frequency as 40Hz:
-
-    ros2 run joy joy_node --ros-args -p autorepeat_rate:=40.0
-
-### Drive-by-wire:
-control the vehicle only:
-
-    ros2 run dbw dbw
-
-control the vehicle and read CAN bus data:
 
-    ros2 run dbw dbw_read
 
-### Vectornav GNSS-INS sensor:
-launch with modified configuratuion file:
+# Rgator_computer_ws
 
-    ros2 launch vectornav vectornav.launch.py
-
-
-
- 
-
-## Project Application:
-
-### Joystick control
-
-    ros2 run joy joy_node
-    ros2 run joy_control joy_control
-    ros2 run dbw dbw
-
-or
-
-    ros2 launch joy_control joy_control_launch.py
-
-### Path track
-
-    ros2 launch vectornav vectornav.launch.py
-    ros2 run dbw dbw
-    ros2 run gps_nav pp_pid
-
-### Path log
-
-    ros2 launch vectornav vectornav.launch.py
-    ros2 run gps_nav track_log
-
-
-
+ supervisor computer: localization, control, and vehicle interface
+
+ perception computer: sensor interface, perception, and planning