ROS Update and FPGA trouble

So it's been a whle since I published an update on how our ROS integration has been going. Last semester, we tried to get LabVIEW communicating with ROS via the ROS package supplied by National Instruments for LabVIEW. For some reason, we were getting very unreliable communication between LabVIEW and ROS. This semester, we have decided to replace the ROS package supplied by National Instruments with simple UDP. So, all our ROS messages are being transmitted in a string via UDP from LabVIEW to ROS and then being decoded in ROS back to a standard ROS message. So far it seems to be working well so we're going to go ahead and begin implementing teleop and click-to-waypoint functionality and see how it turns out.

On the FPGA side, unfortunately but unsurprisingly, we clearly made some mistakes. For some reason, the steering wheel always turns right, with or without a command and our computed vehicle velocity is always 128MPH. So clearly, we've made some data type definition mistakes somewhere. Time to find them!