Node Information

Launch, follow the instructions described in Additional-Configuration-and-Package-Launching page.

Once the package is launched, the following nodes will be launched

Node	Location in pkg	Purpose
mavros-nodes	located in package mavros	launches mavlink between pixhawk and rover
rosserial	located in package rosserial-python	connection between arduino and ROS
trajectory_generator	asl_gremlin_pkg/trajectory_generation/src/trajectory_generator_with_turning_node.cpp	creates reference trajectory
backstepping_controller	asl_gremlin_pkg/controller/src/backstepping_controller_node.cpp	generates motor control signals
angular_vel_to_pwm	asl_gremlin_pkg/controller/src/angular_vel_to_pwm_node.cpp	converts commanded angular velocity to motor pwm signal using relationship from line#11
cmd_pwm_to_arduino_pwm	asl_gremlin_pkg/controller/src/cmd_pwm_to_arduino_pwm.cpp	converts commanded pwm to Int16MultiArray data before sending to Arduino
timestamp_encoder	asl_gremlin_pkg/state_feedback/src/encoder_data_stamped.cpp	timestamps the encoder data coming from arduino
encoder_data_to_omega	asl_gremlin_pkg/state_feedback/src/encoder_data_to_omega.cpp	converts the encoder count data to actual wheel angular velocity using param from lines#9,#10
pose_from_encoder	asl_gremlin_pkg/state_feedback/src/encoder_to_pose.cpp	converts actual angular velocity to rover Inertial frame position information
pose_from_gps	asl_gremlin_pkg/state_feedback/src/gps_to_pose.cpp	converts the global co-ordinates of rover from GPS to local (X,Y,Z) pose with starting position as origin
feedback_selected	asl_gremlin_pkg/state_feedback/src/feedback_selected.cpp	selects required feedback to use (pose_from_encoder or pose_from_gps) to generate control commands

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