MuSHR Base

MuSHR repo for base packages necessary for running the car in sim and on the robot.

Mushr_base API

Joystick params can be set in mushr_base/config/joy_teleop.yaml

Publishers

Topic	Type	Description
/car_pose	geometry_msgs/PoseStamped	Pose of robot. Published when map → base_footprint transforms exist (sim).
/joint_states	sensor_msgs/JointState	Joint states from robot model and position
/mux/ackermann_cmd_mux/input/teleop	ackermann_msgs/AckermannDriveStamped	Publish teleop controls from joystick (real robot)
/tf	tf2_msgs/TFMessage	All transforms

Subscribers

Topic	Type	Description
/initialpose	geometry_msgs/PoseWithCovarianceStamped	Initial pose of robot, usually provided from rviz.
/vesc/sensors/core	vesc_msgs/VescStateStamped	Vesc state. Speed param used to get controls.
/vesc/sensors/servo_position_command	std_msgs/Float64	steering servo state

Ackermann_cmd_mux API

Parameters can be set in ackermann_cmd_mux/param/mux.yaml

Subscribers

Topic	Type	Description
/mux/ackermann_cmd_mux/input/default	ackermann_msgs/AckermannDriveStamped	Default input to car if not input control
/mux/ackermann_cmd_mux/input/navigation	ackermann_msgs/AckermannDriveStamped	Controller's input channel to drive car
/mux/ackermann_cmd_mux/input/safety	ackermann_msgs/AckermannDriveStamped	Safety controller's input channel. Currently null
/mux/ackermann_cmd_mux/input/teleop	ackermann_msgs/AckermannDriveStamped	Teleop controller's input channel

Publishers

Topic	Type	Description
/mux/ackermann_cmd_mux/output	ackermann_msgs/AckermannDriveStamped	Output of muxed inputs topics
/mux/ackermann_cmd_mux/active	std_msgs/String	Which input is the current output