Engine controller for PermoCar project. In these node is the control lope placed and there for are feedback and stop signals fed to it along with driving commands.
- topic joy, sensor_msgs/joy (message form controller input)
- topic stop, std_msgs/Bool (collision warning)
- topic wheel_velocity, std_msgs/Float32MultiArray (feedback form wheel ass L/R speed)
- topic vw_estimate, std_msgs/Float32MultiArray (feedback from wheel in v and w)
- topic motor_power, geometry_msgs/Twist (desired power to engine)
Params that can be set and their default values.
- power_buffer_size int 200
- encoder_buffer_size int 5
- loop_freq int 20
- time_out int 500 (unit ms)
- k11 float 2.5
- kr11 float 2.5
- k22 float 6
- kr22 float 10