This repository contains all the code required to run the project. Please clone this repository and follow the instructions to get the project in your own computer. Please note that the code required for ARTY is not provided. Look into README for more information.
Interface between joystick and any other nodes trying to generate haptic feedback on the joystick.
The code running on the arduino to interface the 4 sonar sensors with rosserial
Forward-facing Hokuyo laser scanners
Interface between the joystick and any device that subscribes to cmd_vel. This interface is used to convert joystick X,Y & Z co-ordinates to Twist messages
Splits laser data from the /scan topic to /kerbDetectLeft and /kerbDetectRight topics
Joystick node that connects to a SDL compatible forced feedback joystick. This node listens to messages intended to generate haptic feedback and also publishes joystick X, Y & Z co-ordinates to the /joystick topic.