Ozay Lab ROS package from controlling the MCity MKZ.

General MKZ documentation can be found at https://www.overleaf.com/read/bhtqskzsycsg

Implimented using rospy on python 3.8.5

Depends on ROS packages of

sensor_msgs, nav_msgs : Can be found from ROS common messages
mcity_msg : Can be found from shaobang

Depends on python3 packages of

evdev : Feedback control of steeringwheel
numpy : For matrix math
threading : To allow for opperation concurency for speed
pygame : For joystick input and potential realtime graphics
rospy : To commincate with ros
csv : To read/write from csv files
pymap3d : To convert latitude and longitude data
scipy : For optimization and to read mat files
json : To be able to pretty print python dictonarys
itertools : To be able find permutations

These packages should be preinstalled on the lab laptop and otherwise can be installed on a local machine using pip3. The one that requires extra work is pygame but instructions can be found online

TODO: Add Further Documentation in each script/module. \

Here is a high level overview

Scripts High Level:

record : Records RTK data to cvs file
raw2route : Converts RTK data to route format
control : Supervises the user input on a set RTK route

Supporting Modules High Level:

getData : GPS -> Data
road : Data -> States
steeringWheel : Wheel Force -> User Input
supervisor : States, Inputs -> Supervised cmds
command : cmds -> Car

Note these modules are implimented using a python3 package. I'm still figuring out how to fully use them properly, but this is how it was recommended online