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drive_mode_switch.md

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drive_mode_switch

From package 'robot_state_controller'

File

./src/drive_mode_switch.cpp

Summary

Switches over a stream of autonomous drive commands and teleop drive commands, selecting the one matching the current robots state. It is expected that a joystick provides the telop source, and thus a button is configured that will swap the robot from autonomous to telop operation when pressed. This node is aware of robot state, and will stop forwarding either stream if the robot is not in the ACTIVE state. If a KILLED state is received, then it will be put into teleop for safety when later re-enabling the bot.

This node will boot in ACTIVE and TELEOP (configurable).

Topics

Publishes

  • /robot/cmd_vel: Control messages from whichever stream is currently selected.
  • /robot/ack_vel: Control messages from whichever stream is currently selected (AckermannDrive version).
  • /robot/drive_mode: Current drive mode of the system. AUTONOMOUS or TELEOP.

Subscribes

  • /robot/state: Current robot state. Will stop publishing /robot/cmd_vel when not ACTIVE.
  • /joy: Joy topic to listen for drive mode switch button.
  • /nav_vel: Twist commands from the autonomous system. This will be fowarded to /robot/cmd_vel if the drive mode is AUTONOMOUS
  • /nav_ack_vel: AckermannDrive commands from the autonomous system. This will be fowarded to /robot/ack_vel if the drive mode is AUTONOMOUS
  • /cmd_vel: Twist commands from the teleop source. This will be fowarded to /robot/cmd_vel if the drive mode is TELEOP
  • /ack_vel: AckermannDrive commands from the teleop source. This will be fowarded to /robot/ack_vel if the drive mode is TELEOP