Software
In competition mode, the robot will be initialized for a full course run. The robot will have access to all its major functions ie(lane keeping, waypoint nav, obstacle avoidance).
This launches with sub-mode as arguments. If hardware is chosen, it is only going to initialize Camera, LiDAR, GPS, IMU, Encoder and look for positive message publishes. The status LED bar will indicate which sensor is working. If software is chosen, master bag file of all raw sensor date is played back and is checked against standard results. Also launched a visualizer to make sure any software changes work as intended.
This mode is only to be used for the lane-keeping qualification portion of the competition. The robot will rely on vision and Odom data to stay within the bounds of the lane. Can use the same one as main competition mode.
Will directly calculate the cross-track error from images use the PID follower for pure lane keeping.
This mode is only to be used for the speed testing qualification portion of the competition. The robot has to maintain a minimum speed of 1mph and a maximum speed of 5mph while simultaneously lane keeping. Will launch the same file as lane keep mode.
This mode is used for the obstacle avoidance qualification portion of the competition. The robot has to demonstrate that it can avoid static obstacles placed on the qualification course.
This mode is used for the waypoint navigation qualification portion of the competition. The robot will be assigned GPS waypoints in which it has to fall within one meter center of accuracy.
This menu option will be used to determine the health status of all the critical systems that are onboard the robot. Essentially just the hardware part of debug mode.
This menu option will be used to quit all active robot operations. Uses '-9' (SIGKILL) flag so all nodes including roscore terminate immediately but will keep the GUI open so that other processes can be relaunched.