supervisor computer: localization, control, and vehicle interface

perception computer: sensor interface, perception, and planning

• dbw: subscribe control command
• dbw_read: subscribe control command; read CAN bus data, convert to ROS2 topic

• Dbw: define control command
• [PGNs]: vehicle CAN bus data msg

control the vehicle only:

ros2 run dbw dbw

control the vehicle and read CAN bus data:

ros2 run dbw dbw_read

This guide provides detailed instructions on how to create a ROS2 workspace, clone necessary packages, build the workspace, and run the program. Follow the steps carefully to get your code up and running.

cd
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src

git clone https://github.com/AUVSL/rgator_computer_ws.git

cd ~/ros2_ws/src
source /opt/ros/humble/setup.bash
source install/setup.bash
ros2 run dbw dbw_vel_sim

• Make sure to have ROS2 Humble installed and properly configured on your system.
• If you encounter errors during the build process, try running:

  colcon clean
  colcon build --packages-select <package_name>

• Verify that each package has been correctly cloned and built before running.