Fort Robotics Joystick driver for Deep Orange

About

This package unpacks the can messages that are over ROS topics (over /can0/can_tx), and with the use of the can_dbc_parser ROS package, converts them to meaningful values mapping to each of the inputs from the joystick. This includes the left and right joy axes, the 8 buttons and estop button on the Fort Robotics SRC.

Demo functionality

Prerequisite packages

In order to use this driver, following ROS packages are needed:

1. kvaser_interface (https://github.com/astuff/kvaser_interface)
2. can_dbc_parser (https://github.com/NewEagleRaptor/raptor-dbw-ros/tree/master/can_dbc_parser)

Subscribed Topics

(as remapped in given launch file)

1. /can0/can_tx:- can_msgs::Frame - CAN messages from CAN bus

Published Topics

(Cuurrent launch files uses "/vehicle" namespace for launchin the node)

1. /fort_estop:- std_msgs::Bool - Bool for E-stop enabled/disabled
2. /fort_joy:- sensor_msgs::Joy - Joy message
3. /fort_joyMisc:- deeporange_fort_driver::JoyMisc - Info on SRC's battery status, connection strength to VSC, current VSC operation mode etc.

Dependencies

To be updated ...