[Documentation] [TitleIndex] [WordIndex


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.

2024-07-20 13:21