Pallet Truck Control

The pallet_pallet_truck_control package includes all nodes necessary for the control of the robots. These include the following:

• twist_mux: Takes in velocity topics and orders them in order of relevance. from highest to lowest: /key_vel, /safety_vel, / scenario_vel, /nav_vel, /cmd_vel
• twist_stamper: As of ros2 jazzy the ros2_controllers need the twist messages to be stamped, therefore the stamper was introduced
• ros2_control_node: Main node which uses the control.yaml file and maps "hardware" to controller actions.
• spawner-joint_state_broadcaster: Publishes the joint_state so the robot moves in gazebo and rviz.
• spawner-velocity_controller: Accepts and publishes velocity commands

With this setup, the robot_agents can be controlled by running the teleop command in control.sh.