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Multiplexer nav joy #70

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Multiplexer nav joy #70

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9730af3
add mux basic system
SimonR99 Jun 14, 2023
fb6ab72
working mux
SimonR99 Jun 14, 2023
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11 changes: 11 additions & 0 deletions markhor_bringup/config/twist_mux.yaml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,11 @@
topics:
-
name : navigation
topic : /move_base/cmd_vel
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Shouldn't this topic be in the markhor namespace?

timeout : 1 # Timeout in seconds before switching to lower priority topic
priority: 10 # Lower priority than joystick
-
name : joystick
topic : /markhor/joy/cmd_vel
timeout : 1 # Timeout in seconds before switching to lower priority topic
priority: 100 # Higher priority than navigation
12 changes: 10 additions & 2 deletions markhor_bringup/launch/teleop_twist_joy.launch
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@@ -1,9 +1,17 @@
<launch>
<arg name="joy_config" default="xbox" />
<arg name="config_filepath" default="$(find markhor_bringup)/config/$(arg joy_config).config.yaml" />
<arg name="config_filepath"
default="$(find markhor_bringup)/config/$(arg joy_config).config.yaml" />

<node pkg="teleop_twist_joy" name="teleop_twist_joy" type="teleop_node">
<rosparam command="load" file="$(arg config_filepath)" />
<remap from="cmd_vel" to="/markhor/tracks/diff_drive_controller/cmd_vel" />
<remap from="cmd_vel" to="/markhor/joy/cmd_vel" />
</node>

<!-- Multiplexer to prioritize teleop commands over autonomous commands -->
<node pkg="twist_mux" type="twist_mux" name="twist_mux" respawn="false">
<rosparam file="$(find markhor_bringup)/config/twist_mux.yaml" command="load" />
<remap from="/cmd_vel_out" to="/markhor/tracks/diff_drive_controller/cmd_vel"/>
</node>

</launch>
1 change: 1 addition & 0 deletions markhor_control/package.xml
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Expand Up @@ -17,6 +17,7 @@
<exec_depend>effort_controllers</exec_depend>
<exec_depend>robot_state_publisher</exec_depend>
<exec_depend>controller_manager</exec_depend>
<exec_depend>twist_mux</exec_depend>

<!-- The export tag contains other, unspecified, tags -->
<export>
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4 changes: 2 additions & 2 deletions markhor_navigation/launch/markhor_nav.launch
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Expand Up @@ -6,8 +6,8 @@
<!-- Launch the move_base node (Navigation core) -->
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">

<!-- Remap the 'cmd_vel' and 'odom' topics to the appropriate topics for the robot -->
<remap from="cmd_vel" to="/markhor/tracks/diff_drive_controller/cmd_vel" />
<!-- Remap the 'cmd_vel' and 'odom' topics to the appropriate topics for the robot (multiplexer) -->
<remap from="cmd_vel" to="/move_base/cmd_vel"/>
<remap from="odom" to="/markhor/tracks/diff_drive_controller/odom" />

<!-- Set the global and local planners using the previously defined arguments -->
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