Installation

1. Clone this repo

2. Install joy package (for controller support)

sudo apt install ros-humble-joy

Usage

Haven't created a launch file, been launching individual nodes so far

In 4 terminals execute the following commands

ros2 run joy joy_node 

ros2 run shared_link_bridge estop_beacon.py

ros2 run shared_link_bridge shared_link_bridge_node.py 

ros2 run shared_link_bridge controller_teleop.py

Controller Controls

The controller_teleop.py terminal will have the gui. Control using the DPad, and press A to toggle the connect and teleop on buttons. The right DPad will then scroll for the shifting options. The right of the screen will provide real time updates on the values, including the frequency of publishes from /joy and /kairos_values.

The right bumber is the deadman's switch and pressing that allows you to use the left joystick at the throttle and brake, and the right for steering.

Additional Note: There are different scalers used for if the joystick is pressed or not, currently they are the same, but you can change that in controller_teleop.py to be different numbers.

Debugging

The controls not changing gui

Spamming buttons occassionally works. Otherwise check that joy_node is running properly by ensuring /joy is publishing with a frequency on the right pane, or double check with ros topic echo /joy