Vehicle Control

This node is used for manual control and intervention of the f1tenth vehicle. To this end, it publishes AckermannDriveStamped messages to the VESC and listens to both gamepad input and input from the autonomous control stack.

Depending on the mode it is currently in, either the manual comands or the autonomous controls are forwarded to the VESC.

Topics

Publishes AckermannDriveStamped messages on /drive

Listens for AckermannDriveStamped messages on /to_drive Listens for Bool messages on /emergency_brake Listens for Joy messages on /joy

Configuration

Configuration file can be found under config/gamepad.yaml

Joystick is preconfigured for the wireless logitec gamepad F710.

TODO: description which button does what

Launch Files

Launch file launch/vehicle_control_simulation_launch.py launches the whole simulation including rviz

Launch file launch/vehicle_control_launch.py launches the driver stack used on the real f1tenth vehicle.