wheel_parser converts a Twist (or TwistStamped) message into speeds for the left and right wheels respectively.
twist_parser takes the individual Float32 speeds from the left and right wheels, and converts them back to a Twist/TwistStamped. This also addresses #9
integration_node will handle the CAN communication between electrical and software. Right now it does the following:
Receives encoder speeds for left/right wheels via CAN and publishes them on their respective topics.
Subscribes to wheel speed topics and sends desired wheel speeds for left/right wheels via CAN
Receives auton. mode and estop via CAN and publishes those via topics as well.
This PR adds a few nodes:
wheel_parserconverts aTwist(orTwistStamped) message into speeds for the left and right wheels respectively.twist_parsertakes the individual Float32 speeds from the left and right wheels, and converts them back to aTwist/TwistStamped. This also addresses #9integration_nodewill handle the CAN communication between electrical and software. Right now it does the following: