This node listens to ackermann drive messages and sends them to the rig. It listens to the speed parameter, not the acceleration parameter.

ros2 run ft_rig ft_rig_node

You may have to tweak the pinion_home variable in the SteeringMotor class.

I am working on an easier way to align the pinion and record the home position.

Currently, the process for aligning the pinion is as follows.

• Ensure that the TOF distance sensor is taped correctly to the place where the axles are such that it has a direct line of sight to the pinion.
• Exectue python3 -m ft_rig.command_motor interactive. Type in left to steer left and type in right to steer right. At this step ensure that the motor wires are not reversed.
• Move the wheels such that they are straight, then execute python3 -m ft_rig.print_pinion_distance.
• Copy this value and modify the pinion_home variable to float(<VALUE>) (it being a float is very important).