Multiplexer for choosing from autonomy, teleop, safety, or no control.
Parameters can be set in ackermann_cmd_mux/param/mux.yaml
Topic | Type | Description |
---|---|---|
/mux/ackermann_cmd_mux/input/default |
ackermann_msgs/AckermannDriveStamped | Default input to car if not input control |
/mux/ackermann_cmd_mux/input/navigation |
ackermann_msgs/AckermannDriveStamped | Controller's input channel to drive car |
/mux/ackermann_cmd_mux/input/safety |
ackermann_msgs/AckermannDriveStamped | Safety controller's input channel. Currently null |
/mux/ackermann_cmd_mux/input/teleop |
ackermann_msgs/AckermannDriveStamped | Teleop controller's input channel |
Topic | Type | Description |
---|---|---|
/mux/ackermann_cmd_mux/output |
ackermann_msgs/AckermannDriveStamped | Output of muxed inputs topics |
/mux/ackermann_cmd_mux/active |
std_msgs/String | Which input is the current output |