<> <> == Overview == This package contains Husky control configuration, for interfacing with [[ros_control]], [[twist_mux]], [[robot_localization]], and [[teleop_twist_joy]]. All file paths are relative to the base package. === Velocity Input === Husky velocity input is multiplexed across several channels using [[twist_mux]]. This interface is brought up in [[https://github.com/husky/husky_control/blob/indigo-devel/launch/control.launch|launch/control.launch]], and configured in [[https://github.com/husky/husky_control/blob/indigo-devel/config/twist_mux.yaml|config/twist_mux.yaml]]. Channels are preconfigured in descending priority for: 1. teleoperation 2. interactive marker ([[husky_viz]]) 3. autonomous movement ([[husky_navigation]]) 4. miscellaneous external input on the standard `cmd_vel` topic. ## AUTOGENERATED DON'T DELETE ## CategoryPackage