Autobrake LiDAR Integration

This repository contains the code that will run on the Raspberry Pi during the Level 1 Autonomy Demo (Autobrake) on Saturday, Feb. 11. It leverages the rplidar_ros package and several custom nodes to output a Boolean value to the /AEBLidar topic when it should stop, and an Int32 on the /motion_command_vertical and /motion_command_horizontal topics for controlling the brakes.

Installation

1. Clone with submodules using git clone --recursive <this repository>

2. Make sure that numpy and rospy (and other dependencies) are installed and usable by python3

3. Run catkin_make

Usage

1. Activate the catkin workspace with source devel/setup.bash

2. Start the LiDAR node (and initialize the roscore) and other nodes. If you don't want to have to ssh into a bunch of different windows, start these processes in the background by putting the ampersand (&) after them

   # read from the LiDAR
   roslaunch rplidar_ros rplidar_a1.launch &

   # output whether to break onto /AEBlidar
   rosrun inhouse_script emergency_brake.py &

   # joystick controller stuff
   roslaunch pacmod_game_control pacmod_game_control.launch &

   # start communication with the automation board
   rosrun rosserial_arduino serial_node.py /dev/ttyUSB1 &

   # final signal to ROSSerial
   rosrun inhouse_script final_cmd.py