qcar2_mixer

ROS 2 Humble package scaffold for the final QCar2 command mixer (mux/mixer stage before hardware).

Scope in this commit

• Package structure only.
• No node implementation yet.
• Base launch and config placeholders added.
• Dependencies aligned with QCar2 project packages and interfaces.

Intended role

qcar2_mixer will be the final stage that receives command inputs (MotorCommands) from upstream packages and publishes final output to:

• /qcar2_motor_speed_cmd (qcar2_interfaces/msg/MotorCommands)

This topic is consumed by QCar2 hardware-side components.

Included placeholders

• Input motor topics parameter list
• Output motor topic parameter
• Lidar topic parameter
• Object detection topics from qcar2_object_detections

Build

From workspace root:

colcon build --packages-select qcar2_mixer