MuSHR repo for base packages necessary for running the car in sim and on the robot.
Joystick params can be set in mushr_base/config/joy_teleop.yaml
| Topic | Type | Description |
|---|---|---|
/car_pose |
geometry_msgs/PoseStamped | Pose of robot. Published when map → base_footprint transforms exist (sim). |
/joint_states |
sensor_msgs/JointState | Joint states from robot model and position |
/mux/ackermann_cmd_mux/input/teleop |
ackermann_msgs/AckermannDriveStamped | Publish teleop controls from joystick (real robot) |
/tf |
tf2_msgs/TFMessage | All transforms |
| Topic | Type | Description |
|---|---|---|
/initialpose |
geometry_msgs/PoseWithCovarianceStamped | Initial pose of robot, usually provided from rviz. |
/vesc/sensors/core |
vesc_msgs/VescStateStamped | Vesc state. Speed param used to get controls. |
/vesc/sensors/servo_position_command |
std_msgs/Float64 | steering servo state |
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 |