Notes from Manav Mehra and Bhavana Jain:

Ros Commands

- Remove Parking brakes.
- Ensure PACMOD is working through joystick by firing the joystick demo

Rostopic list //List all the available topics to publish the message
Rostopic type /pacmod/as_rx/topic_cmd | rosmsg show //Syntax for the message

For example,

Rostopic type /pacmod/as_rx/turn_cmd | rosmsg show
To start the turn signal

rostopic pub [-l|-r|-1] [type] [msg_type] args //-l to latch the message unless terminated using ^C, -r to send the message at a specified rate (10 Hz), -1 to latch the message once.

For example,
rostopic pub -l /pacmod/as_rx/turnn_cmd pacmod_msgs/PacmodCmd ‘{header: auto, ui16_cmd: 0}’ \\Turns on the right indicator

rostopic pub -l /pacmod/as_rx/turnn_cmd pacmod_msgs/PositionWithSpeed ‘{header: auto, angular_position: -10, angular_velocity_limit: 10}’ \\Turns the steering wheel Right, for left pass positive value for angular_position


Corrections:

There are minor typos in those lines (two ns in turnn, etc.).  As below works:



rostopic pub -l /pacmod/as_rx/turn_cmd pacmod_msgs/PacmodCmd "{header: auto, ui16_cmd: 0}"
 
rostopic pub -l /pacmod/as_rx/steer_cmd pacmod_msgs/PositionWithSpeed "{header: auto, angular_position: -10, angular_velocity_limit: 10}"