FT-Autonomous / ft_rig

Code for controlling the rig via ackermann drive messages.

This node listens to ackermann drive messages and sends them to the rig. It listens to the speed parameter, not the acceleration parameter.

ros2 run ft_rig ft_rig_node

You may have to tweak the pinion_home variable in the SteeringMotor class.

I am working on an easier way to align the pinion and record the home position.

Currently, the process for aligning the pinion is as follows.

• Ensure that the TOF distance sensor is taped correctly to the place where the axles are such that it has a direct line of sight to the pinion.
• Exectue python3 -m ft_rig.command_motor interactive. Type in left to steer left and type in right to steer right. At this step ensure that the motor wires are not reversed.
• Move the wheels such that they are straight, then execute python3 -m ft_rig.print_pinion_distance.
• Copy this value and modify the pinion_home variable to float(<VALUE>) (it being a float is very important).