Adds a ROS node which communicates between ROS and the VCU using the FS-AI API library.
The node subscribes to one message: ackermann_cmd. The node publishes one message: vcu2ai, which provides odometry and status messages from the VCU in the custom VCU2AI message format defined in msgs/VCU2AI.msg.
The node sends and receives messages from the VCU every 10ms, and receives ackermann_cmd messages asynchronously. Note this means there may be up to 10ms of latency for any driving command.
I don't have a working ROS installation, so I haven't been able to test this at all. Somebody else will want to test this then + add launch scripts before merging. There's still a fair bit to do, but hopefully this provides a good skeleton.
Adds a ROS node which communicates between ROS and the VCU using the FS-AI API library.
The node subscribes to one message:
ackermann_cmd. The node publishes one message:vcu2ai, which provides odometry and status messages from the VCU in the customVCU2AImessage format defined inmsgs/VCU2AI.msg.The node sends and receives messages from the VCU every 10ms, and receives
ackermann_cmdmessages asynchronously. Note this means there may be up to 10ms of latency for any driving command.I don't have a working ROS installation, so I haven't been able to test this at all. Somebody else will want to test this then + add launch scripts before merging. There's still a fair bit to do, but hopefully this provides a good skeleton.