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Autobrake ROS nodes for both LiDAR and ZED

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cornellev/braking

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AEB

Description

This repo contains two packages that implement AEB using a Zed camera (auto_brake) and a rplidar module (lidar_brake)

How to run

auto_brake

  1. Start roscore in a terminal with $roscore
  2. In a new terminal cd into catkin_ws
  3. Run ./run_zed_brake_system.sh

lidar_brake

  1. Start roscore in a terminal with $roscore
  2. In a new terminal cd into catkin_ws
  3. Run ./run_lidar_brake_system.sh

joy_control

  1. Start roscore in a terminal with $roscore
  2. In a new terminal cd into catkin_ws
  3. Run source devel/setup.bash
  4. Run rosrun joy joy_node

Topics published

  1. /AEBzed
    • std_msgs.Bool
    • True if object is closer than MINIMUM_DISTANCE
  2. /AEBlidar
    • std_msgs.Bool
    • True if object is closer than MINIMUM_DISTANCE

Troubleshooting

  1. Error: roscore cannot run as another roscore/master is already running. Solution: killall -9 rosmaster to kill the current roscore running in the background.

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Autobrake ROS nodes for both LiDAR and ZED

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