Jeep Raptor Driver

This repository contains the Jeep Raptor driver.

Setup:

Jetson Nano
ROS Noetic

Nodes:

feedback_node (mrp_sensor.py) - reads values from the MRP sensor attached to the wheel of the Jeep and publishes to the /feedback topic. The angle values can range from 0 to 70.
teleop_node (teleop_keyboard.py) - publishes Ackermann Drive messages to the /drive topic with target steering angle (from 0 to 70) and speed (-1/0/1).
driver_node (driver.py) - subscrives to /feedback and /drive topic and using the PID controller adjusts the steering angle of the Jeep and sets the movement speed (-1-backward, 0-stop, 1-forward).

Setup workspace and test:

$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src
$ git clone https://github.com/patsyuk03/jeep_driver.git
$ cd ~/catkin_ws/
$ catkin build
$ source devel/setup.bash

In Terminal 1:

$ roslaunch jeep_driver driver.launch

In Terminal 2:

$ rosrun jeep_driver teleop_keyboard.py