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Package Summary

Clearpath Husky controller configurations

Overview

This package contains Husky control configuration, for interfacing with ros_control, twist_mux, robot_localization, and teleop_twist_joy. All file paths are relative to the base package.

Velocity Input

Husky velocity input is multiplexed across several channels using twist_mux. This interface is brought up in launch/control.launch, and configured in config/twist_mux.yaml. Channels are preconfigured in descending priority for:

  1. teleoperation
  2. interactive marker (husky_viz)

  3. autonomous movement (husky_navigation)

  4. miscellaneous external input on the standard cmd_vel topic.


2019-06-15 12:43