COMS Utilities

launch

Launch files that can be run with roslaunch path/to/launch/file. Some launch files read environment variables that allows you to tweak its behavior.

• all.launch: spins up all the nodes required for a basic autonomous driving. This includes: odometry, LIDAR, RTK-GPS, GPS Compass, velocity control.
  • COMS_AUTONOMOUS_ENABLED (default: true): set to false if you don't want to start up the steering and velocity control, as starting these will enable the actuators and lock the brake pedal and steering.
• odom.launch: starts up the nodes required to publish the odom topic.

scripts

• accel_vel.py: records the accelerator percentage and velocity change. Make sure to start the gear_a_b_mbed and /encoder node before running this script.
• check_dirty.bash: checks whether the given directories have uncommited changes.
  • Usage: check_dirty.bash ~/ros/src/*
• odom_to_speed.py: receives the odom topic and shows the current speed at which the vehicle is moving.
• pull_all.bash: similar usage to check_dirty.bash, but runs git pull origin on all given repositories.