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Blended shared controller for the Clearpath Jackal robot.

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piraka9011/jackal_bsc

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Anas Abou Allaban
Sep 9, 2018
20a79c6 · Sep 9, 2018

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Jackal Blended Shared Control

A blended shared controller for the Clearpath Jackal robot.

Contains files that can launch the BSC seperately or with simulated drift and latency.

Launch files

Jackal Simulator stack: roslaunch jackal_bsc jackal_sim.launch

Odometry Navigation with Kinect: roslaunch jackal_bsc odom_navigation.launch

AMCL Navigation wih Kinect: roslaunch jackal_bsc amcl_navigation.launch

Standalone BSC: roslaunch jackal_bsc bsc.launch

BSC with drift: roslaunch jackal_bsc drift.launch

BSC with latency: roslaunch jackal_bsc delay.launch

Classes and nodes

BSCSolver class is where the blending occurs. BSCTwistStamped adds time to twist msgs to make sure navigation/teleop/BSC commands are synced.

Use delay_node.py not the C++ version for delay (Strangely compilation varies from PC to PC, code is correct though). drift_node.cpp can be used.

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Blended shared controller for the Clearpath Jackal robot.

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