Teleoperations Ackermann RC

Project Phoenix | ROS 2 Control Interface

This package provides a high-performance bridge between a hardware PWM-to-Serial converter (STM32-based) and the ROS 2 ecosystem. It serves as the primary hardware abstraction layer for RC-based teleoperation of an Ackermann-steered vehicle.

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1. System Overview

The system is divided into two distinct functional layers to separate hardware communication from vehicle logic:

• rc_joy_node (Hardware Driver): Reads a raw 9-byte binary packet from the Serial/UART interface. It performs synchronization, maps raw PWM values to normalized floats, and publishes sensor_msgs/msg/Joy.
• teleop_ack_rc_node (Logic Bridge): Subscribes to the Joy topic and translates normalized axes into physical vehicle units (Meters per Second and Radians) for the ackermann_msgs/msg/AckermannDrive format.

2. File Structure

teleop_ack_rc/
├── config/
│   └── params.yaml          # Calibration: PWM limits, deadzones, and max speed
├── include/
│   └── teleop_ack_rc/       # K&R Style documented C++ Headers
├── src/
│   ├── rc_joy.cpp           # Main wrapper for the Hardware Driver
│   ├── rc_joy_node.cpp      # Implementation of Serial/PWM logic
│   ├── teleop_ack_rc.cpp    # Main wrapper for the Logic Bridge
│   └── teleop_ack_rc_node.cpp # Implementation of Ackermann scaling
├── CMakeLists.txt           # Build instructions (LibSerial & ROS 2)
└── package.xml              # Dependency manifest

3. Dependencies

The following libraries must be installed on the host system:

• libserial-dev: C++ library for serial port communication.

  sudo apt-get install libserial-dev