Ros can integration
Fully simulated the ros_can
inside our simulation stack.
This was done by a "new" package called ros_can_sim
which is a rebranded version of the old robot_control
node but completely redone.
The new ros_can_sim
features:
- internal state machine just like the
ros_can
node - mission selection through a GUI
- GUI to control the whole internal state of
ros_can
with a mandatoryJUST DRIVE
button which forces the car to just enter the drive state. - publishing of wheel speeds through the Gazebo joint state
This branch was fully tested with the inspection node as seen here.
Additionally, it was tested by @pmacg, however, the "Reset" and "Req. EBS" buttons were not working. However, I couldn't reproduce that issue.