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Impl kart commander #31
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Added QoS profile and state transition rules
in hindsight it was simpler. If one mux fails both are likely screwed
See the AKS server for the state graph
It was using the rcs_service package before
No documentation for constants needed some trial n error
tests to be made automated later, see readme in tests
alanssitis
commented
Apr 16, 2023
src/amp_kart_bringup/README.md
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| ## Mux structure | ||
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| There are two control sources that all produce `twist_mux` messages to "cmd_vel": joy_vel (teleop controller) and nav_vel (autnomous navigation). | ||
| The RCS provides some track states (safe stop, estop, teleop, auto) that control which input we select. It's important that the states can override each other in this priority: | ||
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| - ESTOP/SAFE STOP | ||
| - TELEOP | ||
| - AUTO | ||
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| The priorities are implemented with a [`twist_mux`](http://wiki.ros.org/twist_mux). | ||
| and laid out as can be seen below. | ||
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| ``` | ||
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| /joy_only /stop (255) | ||
| \ / | ||
| | | | ||
| _|_|_ | ||
| /joy_vel____| | | ||
| | |____ /cmd_vel | ||
| | | | ||
| /nav_vel ___| | | ||
| |_____| | ||
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| ``` | ||
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| Priorities for each topic and lock are listed, as well as the expected topic publishers: | ||
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| - `stop` ~ `kart_commander`: 255 | ||
| - `joy_vel` ~ `teleop_twist_joy_node`: 50 | ||
| - `joy_only_publisher` ~ `kart_commander`: 50 | ||
| - `nav_vel` ~ `nav2`: 10 |
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We needed a two-level mux system since we do not want joy_vel to ever overwrite nav_vel since that's not a "trackable" difference. However, if you think we want the ability to do so, comment in #26
| ], | ||
| install_requires=['setuptools'], | ||
| zip_safe=True, | ||
| maintainer='lucy', |
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Suggested change
| maintainer='lucy', | |
| maintainer='Xuyang Chen', |
| <name>amp_kart_commander</name> | ||
| <version>0.0.0</version> | ||
| <description>Updates cmd_vel max based on TrackState changes</description> | ||
| <maintainer email="[email protected]">lucy</maintainer> |
There was a problem hiding this comment.
Suggested change
| <maintainer email="[email protected]">lucy</maintainer> | |
| <maintainer email="[email protected]">Xuyang Chen</maintainer> |
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Welp, shouldn't have opened this myself. @Reschivon see some of the comments and open it yourself |
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@Reschivon is there a way to create a new PR instead of reopening? I am still the owner of this PR |
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Superceded by #46 |
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@Reschivon TODO
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