Closed manuelgitgomes closed 2 years ago
Next step is to add this to the bringup and record_data launch files
the first to set up can, and the second to publish can messages to ROS. The topic published is /received_messages.
Hi @manuelgitgomes ,
perhaps you could rename to /can/received_messages , or even better, /atlascar2/can_messages, not to be so generic
The script used to process the data is can_ros_msgs_to_ackermann.py, in which the can messages are subscribed and the ackermann messages are published.
But this one is not running when collecting the bag file, right?
Hello!
perhaps you could rename to /can/received_messages , or even better, /atlascar2/can_messages, not to be so generic
Sure, it's just a remap. Will do that.
But this one is not running when collecting the bag file, right?
It's up to the user!
OK, but it is important to not record the output of the ackerman node in the bag file, because we want to play the bag and run the ackeman node with different configs later.
In order to combat inaccurate odometry values derivated from inaccurate odometry parameters, the recording of can messages inside a bag file is mandatory. For this, the package ros_canopen was used. The commands needed to use were:
the first to set up can, and the second to publish can messages to ROS. The topic published is
/received_messages
.The script used to process the data is
can_ros_msgs_to_ackermann.py
, in which the can messages are subscribed and the ackermann messages are published.