Nand launch file

README.md

@@ -122,7 +122,7 @@ Then `$ cd RoboBuggy2`
 -	Go to docker container
 `$ docker_exec`
 -	Open foxglove and do local connection to “ws://192.168.1.217/8765”
--	Roslauch in docker container by `$ roslaunch buggy main.launch`
+-	Roslauch in docker container by `$ roslaunch buggy sc-main.launch` (or `$ roslaunch buggy nand-main.launch` for NAND)
 (wait until no longer prints “waiting for covariance to be better”)
 
 When shutting down the buggy:

rb_ws/src/buggy/launch/nand-main.launch

@@ -0,0 +1,25 @@
+<!-- roslaunch buggy main.launch -->
+
+<launch>
+    <arg name="controller"      value="stanley" />
+    <arg name="start_dist"      default="0.0" />
+    <arg name="path"            default="buggycourse_safe_1.json" />
+
+    <remap from="/NAND/nav/odom" to="/nav/odom"/>
+    <remap from="/buggy/input/steering" to="/NAND/buggy/input/steering"/>
+
+    <node name="serial_node" pkg="rosserial_python" type="serial_node.py">
+        <param name="port" type="string" value="/dev/nand-teensy"/>
+        <param name="baud" type="int" value="1000000"/>
+    </node>
+    <node name="foxglove" pkg="foxglove_bridge" type="foxglove_bridge" />
+    <node name="telematics" pkg="buggy" type="telematics.py" />
+
+
+
+
+    <!-- ENABLE AUTON -->
+    <!-- autonsystem args: controller start_dist path buggy_name is_sim -->
+    <arg name="autonsystem_args" value="--controller $(arg controller) --dist 0.0 --traj $(arg path) --self_name NAND" />
+    <node name="auton_system" pkg="buggy" type="autonsystem.py" output="screen" args="$(arg autonsystem_args)"/>
+</launch>

rb_ws/src/buggy/launch/main.launch → rb_ws/src/buggy/launch/sc-main.launch

@@ -32,11 +32,11 @@
     <arg name="NAND_exist" default="true"/>
     <group if="$(arg NAND_exist)">
         <!-- Run the simulation with NAND -->
-        <arg name="autonsystem_args" default="--controller $(arg controller) --dist 0.0 --traj $(arg path) --self_name SC --other_name NAND" />
+        <arg name="autonsystem_args" value="--controller $(arg controller) --dist 0.0 --traj $(arg path) --self_name SC --other_name NAND" />
         <node name="auton_system" pkg="buggy" type="autonsystem.py" output="screen" args="$(arg autonsystem_args)"/>
     </group>
     <group unless="$(arg NAND_exist)">
-        <arg name="autonsystem_args" default="--controller $(arg controller) --dist 0.0 --traj $(arg path) --self_name SC" />
+        <arg name="autonsystem_args" value="--controller $(arg controller) --dist 0.0 --traj $(arg path) --self_name SC" />
         <node name="auton_system" pkg="buggy" type="autonsystem.py" output="screen" args="$(arg autonsystem_args)"/>
     </group>
 </launch>

rb_ws/src/buggy/scripts/auton/controller.py

@@ -19,11 +19,15 @@ class Controller(ABC):
 
     NAND_WHEELBASE = 1.3
     SC_WHEELBASE = 1.104
-    WHEELBASE = SC_WHEELBASE
     current_traj_index = 0
 
     def __init__(self, start_index, buggy_name) -> None:
         self.buggy_name = buggy_name
+        if buggy_name.upper() == 'NAND':
+            Controller.WHEELBASE = self.NAND_WHEELBASE
+        else:
+            Controller.WHEELBASE = self.SC_WHEELBASE
+
         # self.trajectory_forward_1 = rospy.Publisher(
         #     buggy_name + "/auton/debug/forward1_navsat", NavSatFix, queue_size=1
         # )