Yesterday was a major milestone achievement for us! We have working ROS-LabVIEW teleop on the vehicle! We managed to do 2 rounds of Lot D at Olin and then teleop-ed the vehicle back to the large project building, all without needing to do much manual driving, which was fantastic.
We essentially used a stock keyboard teleop ROS package in ROS and then added while loops in labview to take those commands and use them in a way that made sense for the vehicle. As a result, using the standard keyboard teleop package, forward and backward controls increase or decrease the speed and left and right turns increase or decrease the turning radius as appropriate.
Several things we learned from that test:
So, there's some work for us to do but at least we've got something mostly working! Here's a video to prove it:
Gator Research Blog
Welcome to the Gator Research Blog for the Sprint 2016 semester! The aim of this research will be to develop the software to enable drive-by-wire on a John Deere Gator and to begin developing a system for generating depth-registered images. Follow our progress here!