Car state doesn't change.

[PallottaEnrico]

I've followed all installation's instructions but the car does not move when i run the stage sample with gap follower.
I've checked the /drive_api/command topic and it seems that it works. Since the car is frozen i've moved the map around and the steering angle changed, meaning that the environment is perceived but the drive command don't change the car state.

What could i have done wrong? Is there any step that has not been specified in the instructions?

[pokusew]

Hi @PallottaEnrico,

Thank you for posting your issue here. 👍 I am very sorry it took me so long to reply. I've been very busy, and I completely missed the notification.

The README was quite outdated (I've just updated and improved it a lot ✅, be sure to check it out 👀), and there was an important step not mentioned: In order for the car to start moving, you have to publish False to the /eStop topic to disengage the emergency brake (which is on by default). You can use the following command to do that:

ros2 topic pub /eStop -1 std_msgs/msg/Bool 'data: False'

Analogically, publishing True engages the emergency brake, which stops the car.

If you pull the latest changes (it might be easiest to just delete your local copy and clone the repo again) and do a clean build (rm -rf build/ install/ log/ and colcon build --symlink-install), you should be able to use auto start and auto stop commands.

Hope it helps. 🙂 Let me know if everything works for you or if you have any questions. And thank you for taking the time to play with this project and report the issue.