Implement autonomous mode listener/flags

AbBaSaMo commented 4 months ago

Overview

One key requirement for the competition is that the safety light must be on when the vehicle is on and blinking when the vehicle is in autonomous mode. Software defines autonomous mode as the duration of time where the vehicle is sending cmd_vel messages from Nav2 to the motors and the motors move in response to this. Thus so as long as cmd_vel is being sent by Nav2, this should somehow be communicated with the MCU chip via some boolean so that it can make the safety light blink.

Relevant resources

Acceptance criteria

[ ] Node must publish the right twist messages depending on if autonmous mode button has been pressed or not
[ ] You can mock this by publishing fake twist and joy messages

Todo

[ ] Node subscribes to a topic controller/cmd_vel
[ ] Node subscribes to a topic nav2/cmd_vel
[ ] Listens to topic /joy to see if autonomous mode is switched on or off
[ ] Publishes to topic cmd_vel
[ ] Stores an attribute called autonomous_mode that is false by default
[ ] If the autonomous button is pressed switches the attribute to true esle if it is turned off it switches it back to false
[ ] Publishes to cmd_vel will publish either controller/cmd_vel or nav2/cmd_vel depending on the value of autonomous mode

aallendarmawan commented 3 months ago

This is handled by Electrical team so can this issue be closed?

AbBaSaMo commented 3 months ago

I'll delete the issue instead.

Monash-Connected-Autonomous-Vehicle / ESDA