amp_kart_bringup

amp_kart_bringup

Contains files needed to start the kart.

Mux structure

The muxes used are twist_mux. They are laid out as can be seen below.

                   /joy_disable      /joy_enable
                  |                 |
                  |                 |   /stop
                 ____               |  |
                |    |  /mux1_vel   ____
   /joy_vel ____|    |_____________|    |
                |    |             |    |
                |____|             |    |____ /cmd_vel
                 mux1              |    |
                       /nav_vel ___|    |
                                   |____|
                                    mux2

Priorities for the muxes are listed below, as well as the corresponding topic and (expected) topic publishers:

• mux1 → /mux1_vel
  • joy_disable ~ kart_commander: 150
  • joy_vel ~ teleop_twist_joy_node: 100
• mux2 → /cmd_vel
  • stop ~ kart_commander: 255
  • joy_enable ~ kart_commander: 50
  • nav_vel ~ nav2: 10
  • mux1_vel ~ mux1: 100

Directory Tree

• config/
  • xbox.config.yaml config file for teleop twist joy node
• launch/
  • kart.launch.py Start sensors and micro ros
  • kart_bringup.launch.py Start kart related items; currently sensors, micro ros, and nav2
  • laptop_bringup.launch.py Start laptop related items; currently rviz
  • localization.launch.py Initialize map_server and amcl
  • nav2_bringup.launch.py Start the high-level navigation software stack
  • navigation.launch.py Initialize Nav2
  • rviz.launch.py Initialize RViz with Nav2 configuration
  • slam.launch.py Initialize map_server and slam_toolbox
  • teleop.launch.py Launch joy teleop nodes
  • twist_mux.launch.py Launch both twist muxex
  • VLP16.launch.py Initialize Velodyne LIDAR VLP16 nodes
  • zed.launch.py Zed camera launch file
• map/
  • empty_map.yaml Default empty map
• params/
  • VLP16.params.yaml VLP16 parameters
  • VLP16db.params.yaml VLP16 calibration parameters
  • nav2.params.yaml Nav2 parameters
  • patchworkpp.params.yaml Patchwork++ parameters
  • twist_mux_1.params.yaml
  • twist_mux_2.params.yaml
• rviz/
  • nav2_default_view.rviz.yaml RViz config for Nav2