Bringup
The bring up command starts the ros2 core nodes.
To launch bringup run:
Connect the joystick (of the right car) by pressing the PlayStation button.
-
If the joystick does not connect run
In the logs of the bringup command check for the following line:
scan=1 connected, joy=1 connected, vesc=1
If all the 3 are equal to 1 than it means that the car:
- it receives the scans from the lidar
- it is connected to a joystick
- the vesc is connected and working
The car now can be moved with the joystick:
- Hold L1 for slow movement.
- Hold R1 for fast movement.
- Use the left stick to control forward and backward motion.
- Use the right stick to steer the car.
Warning
If an issue arises to stop the car immediately press L1 repeatedly.
Tip
When bringup is running, it is possible to check the battery voltage by running ros2 topic echo /sensors/core/.
Important Note: The voltage reading has a bias of approximately +0.2V higher than actual voltage