teleop_ack_rc

An opinionated ROS2 C++ node for converting RC serial packets into Ackermann drive commands, optimized for Project Phoenix and ISC standards.

Instructions

1. Clone repo inside your workspace src directory (Ex. phnx_ws/src)
2. rosdep install --from-paths . --ignore-src -r -y to install deps
3. colcon build --packages-select teleop_ack_rc to build the package
4. colcon test --packages-select teleop_ack_rc --event-handlers console_direct+ to run unit tests

Dependencies

• rclcpp
• sensor_msgs
• ackermann_msgs
• libserial (External library for Arduino communication)

Features

• Unit tests for velocity mapping and jitter suppression
• Multithreaded executor for high-frequency serial I/O
• Hardware-specific calibration for Project Phoenix powertrain

Hardware Calibration & Benchmarks

The node is configured for a target top speed of 15.0 mph (6.7056 m/s).

Input Device	Observed Max Throttle	Actual Top Speed	Notes
8BitDo (Wukong)	1.0 (100%)	6.70 m/s	Digital precision
RC Transmitter	0.94 (94%)	6.33 m/s	Range limited by 7yo pots

Serial Configuration

• Baud Rate: 115200
• Polling Rate: 50Hz (20ms)
• Neutral Pulse: 1500 (Subtrim calibrated)

File structure

. ├── include │ └── teleop_ack_rc │ └── TeleopAckRc_node.hpp ├── package.xml ├── README.md ├── src │ ├── teleop_ack_rc.cpp # Main function and executor setup │ └── teleop_ack_rc_node.cpp # Node logic and serial processing └── tests └── unit.cpp # Logic verification and edge cases

Development Notes

• Jitter Management: If significant jitter is observed at neutral, check Arduino interrupt timing. The unit.cpp tests include a deadzone validation (default 0.05) to suppress minor signal noise.
• Device Persistence: When using the 8BitDo controller, utilize the /dev/input/by-id/ path in the joy_node launch to prevent keyboard interference. Would you like me to generate the src/teleop_ack_rc.cpp file now so you can finish the split between the main function and the node logic?