mainframe

Contains the software packages to run at the base station to control the rover.

Controls (node)

Handles input from the user via physical controller devices and distributes the input into the ROS network.

Publications

Topic: ctrl_data
Msg type: mainframe/RawControl (custom)
Description: Passes raw physical controller inputs to other nodes in the network.

Overlord (node)

Integrates user input and passes commands to the rover.

Subscriptions

Topic: ctrl_data
Msg type: mainframe/RawControl (custom)
Description: Passes raw physical controller inputs to other nodes in the network.

Publications

Topic: hbeat
Msg type: std_msgs/Empty
Description: Sends periodic heartbeat to rover in order to determine whether or not we have lost comms.

Topic: cmd_data
Msg type: rover/DriveCmd (custom)
Description: Sends speed and steering commands to the rover.