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Initialise project. Additionally write some CMake for the dependency on the FS AI API. At the moment, this is done using CMake's ExternalProject.
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Adds a ROS node which communicates between ROS and the VCU using the FS-AI API library.
The node subscribes to one message:
ackermann_cmd. The node publishes one message:vcu2ai, which provides odometry and status messages from the VCU in the customVCU2AImessage format defined inmsgs/VCU2AI.msg.The node sends and receives messages from the VCU every 10ms, and receives
ackermann_cmdmessages asynchronously. Note this means there may be up to 10ms of latency for any driving command.I don't have a working ROS installation, so I haven't been able to test this at all. Somebody else will want to test this then + add launch scripts before merging. There's still a fair bit to do, but hopefully this provides a good skeleton.