Overview

Purpose

The controller service uses a simple PID controller to make steering and acceleration decisions based on pre-processed track edges it receives.

Installation

To install this service, the latest release of roverctl should be installed for your system and your Rover should be powered on.

Using roverctl

1. Install the service from your terminal

# Replace ROVER_NUMBER with your the number label on your Rover (e.g. 7)
roverctl service install -r <ROVER_NUMBER> https://github.com/VU-ASE/controller/releases/latest/download/controller.zip 

Using roverctl-web

1. Open roverctl-web for your Rover

# Replace ROVER_NUMBER with your the number label on your Rover (e.g. 7)
roverctl -r <ROVER_NUMBER>

2. Click on "install a service" button on the bottom left, and click "install from URL"
3. Enter the URL of the latest release:

https://github.com/VU-ASE/controller/releases/latest/download/controller.zip 

Follow this tutorial to understand how to use an ASE service. You can find more useful roverctl commands here

Inputs

As defined in the service.yaml, this service depends on the following read streams:

• path, exposed by an imaging service:
  • From this stream, it will read a CameraSensorOutput message wrapped in a SensorOutput wrapper message.

Outputs

As defined in the service.yaml, this service exposes the following write streams:

• decision:
  • To this stream, ControllerOutput messages will be written. Each message will be wrapped in a SensorOutput wrapper message