The speed_override_node is a ROS2 node that subscribes to the /stop_cmd topic and publishes to the /speed_override topic.
The /stop_cmd topic is subscribed to by the AV_DM node, which uses the stop command to stop the AV.
The /speed_override topic is published to by the speed_override_node, which overrides the speed of the AV. Making the AV stop when the stop command is received.
1. Clone Git:
1.1: git clone git@github.com:usnistgov/AV_System_Interaction.git av_dm_control
2. Change into the ros working directory
3. Build Package
3.1 colcon build --packages-select av_dm_control
4. Running Control Node:
4.1: source install/local_setup.bash
4.2: ros2 run av_dm_control speed_control.py