A blended shared controller for the Clearpath Jackal robot.
Contains files that can launch the BSC seperately or with simulated drift and latency.
Jackal Simulator stack: roslaunch jackal_bsc jackal_sim.launch
Odometry Navigation with Kinect: roslaunch jackal_bsc odom_navigation.launch
AMCL Navigation wih Kinect: roslaunch jackal_bsc amcl_navigation.launch
Standalone BSC: roslaunch jackal_bsc bsc.launch
BSC with drift: roslaunch jackal_bsc drift.launch
BSC with latency: roslaunch jackal_bsc delay.launch
BSCSolver class is where the blending occurs. BSCTwistStamped adds time to twist msgs to make sure navigation/teleop/BSC commands are synced.
Use delay_node.py not the C++ version for delay (Strangely compilation varies from PC to PC, code is correct though). drift_node.cpp can be used.