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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