Contents
Overview
This package contains Husky control configuration, for interfacing with ros_control, twist_mux, robot_localization, and teleop_twist_joy. All file paths are relative to the base package.
Velocity Input
Husky velocity input is multiplexed across several channels using twist_mux. This interface is brought up in launch/control.launch, and configured in config/twist_mux.yaml. Channels are preconfigured in descending priority for:
- teleoperation
interactive marker (husky_viz)
autonomous movement (husky_navigation)
miscellaneous external input on the standard cmd_vel topic.