Low-Level Control Stack Release Notes

1.1.0

• The following modules were added to this release:
  • joystick_vehicle_test: A node to provide speed, steering, gear, and turn signal commands to the rest of the the low-level control stack based on driver input from a joystick game controller.  This provides an easy way to demonstrate the functionality of the rest of the stack.  It's open source so that it can also be used as an example application for how to use the stack.

1.0.0

• The following modules were added to the initial release:
  
  • ds_veh_interface: A vehicle-specific messaging interface for the Dataspeed drive-by-wire driver (handles messages coming from the DS interface).
  • ds_veh_controller: A vehicle-specific control interface for the Dataspeed drive-by-wire driver (handles messages going to the DS interface).
  • speed_model: A model for control of the vehicle's speed using an iterative controller to convert a desired speed and acceleration/deceleration maximums into low-level commands for the accelerator and brake.
  • steering_model: A model for control of the vehicle's steering using an iterative controller to convert a desired steering curvature and curvature rate into low-level commands for the steering wheel.