/ackermann_cmd_mux

Multiplexer

Primary LanguageC++OtherNOASSERTION

Ackermann Command Mux

Multiplexer for choosing from autonomy, teleop, safety, or no control.

API

Parameters can be set in ackermann_cmd_mux/param/mux.yaml

Subscribers

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

Publishers

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