art_pilot Documentation

art_pilot: ART vehicle pilot

Servo coordination for the ART autonomous vehicle.

Homepage: http://www.ros.org/wiki/art_pilot

Servo coordination for the ART automonous vehicle.

Pilot Node

Speed and direction control node for the ART vehicle.

Examples

Run the ART pilot, accepting pilot/cmd messages.

  rosrun art_nav pilot

Pilot ROS API

Node name: pilot

Subscribes:

• pilot/cmd velocity and steering angle command
• vel_cmd standard ROS velocity and angle command
• odom estimate of robot position and velocity.
• brake/state brake status.
• shifter/state shifter relays status.
• steering/state steering status.
• throttle/state throttle status.

Publishes:

• brake/cmd brake commands.
• shifter/cmd shifter commands.
• steering/cmd steering commands.
• throttle/cmd throttle commands.

ROS parameters:

Maintained using dynamic_reconfigure. See "html:ros.org/wiki/art_pilot" for a complete list. To modify pilot parameters at any time, run:

$ rosrun dynamic_reconfigure reconfigure_gui pilot