oscc_mux

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/WATonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Priority-based Roscco command mux with masking and safety gating.

Maintainers

WATonomous

Authors

No additional authors.

oscc_mux

Priority-based multiplexer for ROSCCO commands (roscco_msg/Roscco). Same architecture as ackermann_mux but operates on the direct torque/throttle interface rather than Ackermann commands.

Overview

When the vehicle is in ROSCCO mode, multiple sources may want to send steering torque and throttle/brake commands. oscc_mux arbitrates between them using configurable priority levels and feeds the selected command to oscc_interfacing.

Architecture

/joystick/roscco  (priority 100) ─┐
/pid/roscco       (priority  10) ─┤──► oscc_mux ──► /roscco ──► oscc_interfacing

The joystick has higher priority so operator intervention always overrides autonomous commands. Unlike ackermann_mux, safety gating is typically disabled here — the joystick may stop publishing ROSCCO when in Ackermann mode, and that should not trigger an emergency. Safety is handled at the ackermann_mux level instead.

See ackermann_mux for the full description of priority arbitration, masking, and safety gating logic — oscc_mux is an identical implementation for the ROSCCO message type.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	rclcpp_components
	rclcpp_lifecycle
	lifecycle_msgs
	roscco_msg
	std_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
interfacing_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `oscc_mux` at Robotics Stack Exchange

oscc_mux package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/WATonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Priority-based Roscco command mux with masking and safety gating.

Maintainers

WATonomous

Authors

No additional authors.

oscc_mux

Priority-based multiplexer for ROSCCO commands (roscco_msg/Roscco). Same architecture as ackermann_mux but operates on the direct torque/throttle interface rather than Ackermann commands.

Overview

When the vehicle is in ROSCCO mode, multiple sources may want to send steering torque and throttle/brake commands. oscc_mux arbitrates between them using configurable priority levels and feeds the selected command to oscc_interfacing.

Architecture

/joystick/roscco  (priority 100) ─┐
/pid/roscco       (priority  10) ─┤──► oscc_mux ──► /roscco ──► oscc_interfacing

The joystick has higher priority so operator intervention always overrides autonomous commands. Unlike ackermann_mux, safety gating is typically disabled here — the joystick may stop publishing ROSCCO when in Ackermann mode, and that should not trigger an emergency. Safety is handled at the ackermann_mux level instead.

See ackermann_mux for the full description of priority arbitration, masking, and safety gating logic — oscc_mux is an identical implementation for the ROSCCO message type.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	rclcpp_components
	rclcpp_lifecycle
	lifecycle_msgs
	roscco_msg
	std_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
interfacing_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `oscc_mux` at Robotics Stack Exchange

No version for distro kilted showing jazzy. Known supported distros are highlighted in the buttons above.

oscc_mux package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/WATonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Priority-based Roscco command mux with masking and safety gating.

Maintainers

WATonomous

Authors

No additional authors.

oscc_mux

Priority-based multiplexer for ROSCCO commands (roscco_msg/Roscco). Same architecture as ackermann_mux but operates on the direct torque/throttle interface rather than Ackermann commands.

Overview

When the vehicle is in ROSCCO mode, multiple sources may want to send steering torque and throttle/brake commands. oscc_mux arbitrates between them using configurable priority levels and feeds the selected command to oscc_interfacing.

Architecture

/joystick/roscco  (priority 100) ─┐
/pid/roscco       (priority  10) ─┤──► oscc_mux ──► /roscco ──► oscc_interfacing

The joystick has higher priority so operator intervention always overrides autonomous commands. Unlike ackermann_mux, safety gating is typically disabled here — the joystick may stop publishing ROSCCO when in Ackermann mode, and that should not trigger an emergency. Safety is handled at the ackermann_mux level instead.

See ackermann_mux for the full description of priority arbitration, masking, and safety gating logic — oscc_mux is an identical implementation for the ROSCCO message type.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	rclcpp_components
	rclcpp_lifecycle
	lifecycle_msgs
	roscco_msg
	std_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
interfacing_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `oscc_mux` at Robotics Stack Exchange

No version for distro lyrical showing jazzy. Known supported distros are highlighted in the buttons above.

oscc_mux package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/WATonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Priority-based Roscco command mux with masking and safety gating.

Maintainers

WATonomous

Authors

No additional authors.

oscc_mux

Priority-based multiplexer for ROSCCO commands (roscco_msg/Roscco). Same architecture as ackermann_mux but operates on the direct torque/throttle interface rather than Ackermann commands.

Overview

When the vehicle is in ROSCCO mode, multiple sources may want to send steering torque and throttle/brake commands. oscc_mux arbitrates between them using configurable priority levels and feeds the selected command to oscc_interfacing.

Architecture

/joystick/roscco  (priority 100) ─┐
/pid/roscco       (priority  10) ─┤──► oscc_mux ──► /roscco ──► oscc_interfacing

The joystick has higher priority so operator intervention always overrides autonomous commands. Unlike ackermann_mux, safety gating is typically disabled here — the joystick may stop publishing ROSCCO when in Ackermann mode, and that should not trigger an emergency. Safety is handled at the ackermann_mux level instead.

See ackermann_mux for the full description of priority arbitration, masking, and safety gating logic — oscc_mux is an identical implementation for the ROSCCO message type.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	rclcpp_components
	rclcpp_lifecycle
	lifecycle_msgs
	roscco_msg
	std_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
interfacing_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `oscc_mux` at Robotics Stack Exchange

No version for distro rolling showing jazzy. Known supported distros are highlighted in the buttons above.

oscc_mux package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/WATonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Priority-based Roscco command mux with masking and safety gating.

Maintainers

WATonomous

Authors

No additional authors.

oscc_mux

Priority-based multiplexer for ROSCCO commands (roscco_msg/Roscco). Same architecture as ackermann_mux but operates on the direct torque/throttle interface rather than Ackermann commands.

Overview

When the vehicle is in ROSCCO mode, multiple sources may want to send steering torque and throttle/brake commands. oscc_mux arbitrates between them using configurable priority levels and feeds the selected command to oscc_interfacing.

Architecture

/joystick/roscco  (priority 100) ─┐
/pid/roscco       (priority  10) ─┤──► oscc_mux ──► /roscco ──► oscc_interfacing

The joystick has higher priority so operator intervention always overrides autonomous commands. Unlike ackermann_mux, safety gating is typically disabled here — the joystick may stop publishing ROSCCO when in Ackermann mode, and that should not trigger an emergency. Safety is handled at the ackermann_mux level instead.

See ackermann_mux for the full description of priority arbitration, masking, and safety gating logic — oscc_mux is an identical implementation for the ROSCCO message type.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	rclcpp_components
	rclcpp_lifecycle
	lifecycle_msgs
	roscco_msg
	std_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
interfacing_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `oscc_mux` at Robotics Stack Exchange

No version for distro ardent showing jazzy. Known supported distros are highlighted in the buttons above.

oscc_mux package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/WATonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Priority-based Roscco command mux with masking and safety gating.

Maintainers

WATonomous

Authors

No additional authors.

oscc_mux

Priority-based multiplexer for ROSCCO commands (roscco_msg/Roscco). Same architecture as ackermann_mux but operates on the direct torque/throttle interface rather than Ackermann commands.

Overview

When the vehicle is in ROSCCO mode, multiple sources may want to send steering torque and throttle/brake commands. oscc_mux arbitrates between them using configurable priority levels and feeds the selected command to oscc_interfacing.

Architecture

/joystick/roscco  (priority 100) ─┐
/pid/roscco       (priority  10) ─┤──► oscc_mux ──► /roscco ──► oscc_interfacing

The joystick has higher priority so operator intervention always overrides autonomous commands. Unlike ackermann_mux, safety gating is typically disabled here — the joystick may stop publishing ROSCCO when in Ackermann mode, and that should not trigger an emergency. Safety is handled at the ackermann_mux level instead.

See ackermann_mux for the full description of priority arbitration, masking, and safety gating logic — oscc_mux is an identical implementation for the ROSCCO message type.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	rclcpp_components
	rclcpp_lifecycle
	lifecycle_msgs
	roscco_msg
	std_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
interfacing_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `oscc_mux` at Robotics Stack Exchange

No version for distro bouncy showing jazzy. Known supported distros are highlighted in the buttons above.

oscc_mux package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/WATonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Priority-based Roscco command mux with masking and safety gating.

Maintainers

WATonomous

Authors

No additional authors.

oscc_mux

Priority-based multiplexer for ROSCCO commands (roscco_msg/Roscco). Same architecture as ackermann_mux but operates on the direct torque/throttle interface rather than Ackermann commands.

Overview

When the vehicle is in ROSCCO mode, multiple sources may want to send steering torque and throttle/brake commands. oscc_mux arbitrates between them using configurable priority levels and feeds the selected command to oscc_interfacing.

Architecture

/joystick/roscco  (priority 100) ─┐
/pid/roscco       (priority  10) ─┤──► oscc_mux ──► /roscco ──► oscc_interfacing

The joystick has higher priority so operator intervention always overrides autonomous commands. Unlike ackermann_mux, safety gating is typically disabled here — the joystick may stop publishing ROSCCO when in Ackermann mode, and that should not trigger an emergency. Safety is handled at the ackermann_mux level instead.

See ackermann_mux for the full description of priority arbitration, masking, and safety gating logic — oscc_mux is an identical implementation for the ROSCCO message type.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	rclcpp_components
	rclcpp_lifecycle
	lifecycle_msgs
	roscco_msg
	std_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
interfacing_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `oscc_mux` at Robotics Stack Exchange

No version for distro crystal showing jazzy. Known supported distros are highlighted in the buttons above.

oscc_mux package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/WATonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Priority-based Roscco command mux with masking and safety gating.

Maintainers

WATonomous

Authors

No additional authors.

oscc_mux

Priority-based multiplexer for ROSCCO commands (roscco_msg/Roscco). Same architecture as ackermann_mux but operates on the direct torque/throttle interface rather than Ackermann commands.

Overview

When the vehicle is in ROSCCO mode, multiple sources may want to send steering torque and throttle/brake commands. oscc_mux arbitrates between them using configurable priority levels and feeds the selected command to oscc_interfacing.

Architecture

/joystick/roscco  (priority 100) ─┐
/pid/roscco       (priority  10) ─┤──► oscc_mux ──► /roscco ──► oscc_interfacing

The joystick has higher priority so operator intervention always overrides autonomous commands. Unlike ackermann_mux, safety gating is typically disabled here — the joystick may stop publishing ROSCCO when in Ackermann mode, and that should not trigger an emergency. Safety is handled at the ackermann_mux level instead.

See ackermann_mux for the full description of priority arbitration, masking, and safety gating logic — oscc_mux is an identical implementation for the ROSCCO message type.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	rclcpp_components
	rclcpp_lifecycle
	lifecycle_msgs
	roscco_msg
	std_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
interfacing_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `oscc_mux` at Robotics Stack Exchange

No version for distro eloquent showing jazzy. Known supported distros are highlighted in the buttons above.

oscc_mux package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/WATonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Priority-based Roscco command mux with masking and safety gating.

Maintainers

WATonomous

Authors

No additional authors.

oscc_mux

Priority-based multiplexer for ROSCCO commands (roscco_msg/Roscco). Same architecture as ackermann_mux but operates on the direct torque/throttle interface rather than Ackermann commands.

Overview

When the vehicle is in ROSCCO mode, multiple sources may want to send steering torque and throttle/brake commands. oscc_mux arbitrates between them using configurable priority levels and feeds the selected command to oscc_interfacing.

Architecture

/joystick/roscco  (priority 100) ─┐
/pid/roscco       (priority  10) ─┤──► oscc_mux ──► /roscco ──► oscc_interfacing

The joystick has higher priority so operator intervention always overrides autonomous commands. Unlike ackermann_mux, safety gating is typically disabled here — the joystick may stop publishing ROSCCO when in Ackermann mode, and that should not trigger an emergency. Safety is handled at the ackermann_mux level instead.

See ackermann_mux for the full description of priority arbitration, masking, and safety gating logic — oscc_mux is an identical implementation for the ROSCCO message type.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	rclcpp_components
	rclcpp_lifecycle
	lifecycle_msgs
	roscco_msg
	std_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
interfacing_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `oscc_mux` at Robotics Stack Exchange

No version for distro dashing showing jazzy. Known supported distros are highlighted in the buttons above.

oscc_mux package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/WATonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Priority-based Roscco command mux with masking and safety gating.

Maintainers

WATonomous

Authors

No additional authors.

oscc_mux

Priority-based multiplexer for ROSCCO commands (roscco_msg/Roscco). Same architecture as ackermann_mux but operates on the direct torque/throttle interface rather than Ackermann commands.

Overview

When the vehicle is in ROSCCO mode, multiple sources may want to send steering torque and throttle/brake commands. oscc_mux arbitrates between them using configurable priority levels and feeds the selected command to oscc_interfacing.

Architecture

/joystick/roscco  (priority 100) ─┐
/pid/roscco       (priority  10) ─┤──► oscc_mux ──► /roscco ──► oscc_interfacing

The joystick has higher priority so operator intervention always overrides autonomous commands. Unlike ackermann_mux, safety gating is typically disabled here — the joystick may stop publishing ROSCCO when in Ackermann mode, and that should not trigger an emergency. Safety is handled at the ackermann_mux level instead.

See ackermann_mux for the full description of priority arbitration, masking, and safety gating logic — oscc_mux is an identical implementation for the ROSCCO message type.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	rclcpp_components
	rclcpp_lifecycle
	lifecycle_msgs
	roscco_msg
	std_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
interfacing_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `oscc_mux` at Robotics Stack Exchange

No version for distro galactic showing jazzy. Known supported distros are highlighted in the buttons above.

oscc_mux package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/WATonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Priority-based Roscco command mux with masking and safety gating.

Maintainers

WATonomous

Authors

No additional authors.

oscc_mux

Priority-based multiplexer for ROSCCO commands (roscco_msg/Roscco). Same architecture as ackermann_mux but operates on the direct torque/throttle interface rather than Ackermann commands.

Overview

When the vehicle is in ROSCCO mode, multiple sources may want to send steering torque and throttle/brake commands. oscc_mux arbitrates between them using configurable priority levels and feeds the selected command to oscc_interfacing.

Architecture

/joystick/roscco  (priority 100) ─┐
/pid/roscco       (priority  10) ─┤──► oscc_mux ──► /roscco ──► oscc_interfacing

The joystick has higher priority so operator intervention always overrides autonomous commands. Unlike ackermann_mux, safety gating is typically disabled here — the joystick may stop publishing ROSCCO when in Ackermann mode, and that should not trigger an emergency. Safety is handled at the ackermann_mux level instead.

See ackermann_mux for the full description of priority arbitration, masking, and safety gating logic — oscc_mux is an identical implementation for the ROSCCO message type.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	rclcpp_components
	rclcpp_lifecycle
	lifecycle_msgs
	roscco_msg
	std_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
interfacing_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `oscc_mux` at Robotics Stack Exchange

No version for distro foxy showing jazzy. Known supported distros are highlighted in the buttons above.

oscc_mux package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/WATonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Priority-based Roscco command mux with masking and safety gating.

Maintainers

WATonomous

Authors

No additional authors.

oscc_mux

Priority-based multiplexer for ROSCCO commands (roscco_msg/Roscco). Same architecture as ackermann_mux but operates on the direct torque/throttle interface rather than Ackermann commands.

Overview

When the vehicle is in ROSCCO mode, multiple sources may want to send steering torque and throttle/brake commands. oscc_mux arbitrates between them using configurable priority levels and feeds the selected command to oscc_interfacing.

Architecture

/joystick/roscco  (priority 100) ─┐
/pid/roscco       (priority  10) ─┤──► oscc_mux ──► /roscco ──► oscc_interfacing

The joystick has higher priority so operator intervention always overrides autonomous commands. Unlike ackermann_mux, safety gating is typically disabled here — the joystick may stop publishing ROSCCO when in Ackermann mode, and that should not trigger an emergency. Safety is handled at the ackermann_mux level instead.

See ackermann_mux for the full description of priority arbitration, masking, and safety gating logic — oscc_mux is an identical implementation for the ROSCCO message type.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	rclcpp_components
	rclcpp_lifecycle
	lifecycle_msgs
	roscco_msg
	std_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
interfacing_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `oscc_mux` at Robotics Stack Exchange

No version for distro iron showing jazzy. Known supported distros are highlighted in the buttons above.

oscc_mux package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/WATonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Priority-based Roscco command mux with masking and safety gating.

Maintainers

WATonomous

Authors

No additional authors.

oscc_mux

Priority-based multiplexer for ROSCCO commands (roscco_msg/Roscco). Same architecture as ackermann_mux but operates on the direct torque/throttle interface rather than Ackermann commands.

Overview

When the vehicle is in ROSCCO mode, multiple sources may want to send steering torque and throttle/brake commands. oscc_mux arbitrates between them using configurable priority levels and feeds the selected command to oscc_interfacing.

Architecture

/joystick/roscco  (priority 100) ─┐
/pid/roscco       (priority  10) ─┤──► oscc_mux ──► /roscco ──► oscc_interfacing

The joystick has higher priority so operator intervention always overrides autonomous commands. Unlike ackermann_mux, safety gating is typically disabled here — the joystick may stop publishing ROSCCO when in Ackermann mode, and that should not trigger an emergency. Safety is handled at the ackermann_mux level instead.

See ackermann_mux for the full description of priority arbitration, masking, and safety gating logic — oscc_mux is an identical implementation for the ROSCCO message type.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	rclcpp_components
	rclcpp_lifecycle
	lifecycle_msgs
	roscco_msg
	std_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
interfacing_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `oscc_mux` at Robotics Stack Exchange

No version for distro lunar showing jazzy. Known supported distros are highlighted in the buttons above.

oscc_mux package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/WATonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Priority-based Roscco command mux with masking and safety gating.

Maintainers

WATonomous

Authors

No additional authors.

oscc_mux

Priority-based multiplexer for ROSCCO commands (roscco_msg/Roscco). Same architecture as ackermann_mux but operates on the direct torque/throttle interface rather than Ackermann commands.

Overview

When the vehicle is in ROSCCO mode, multiple sources may want to send steering torque and throttle/brake commands. oscc_mux arbitrates between them using configurable priority levels and feeds the selected command to oscc_interfacing.

Architecture

/joystick/roscco  (priority 100) ─┐
/pid/roscco       (priority  10) ─┤──► oscc_mux ──► /roscco ──► oscc_interfacing

The joystick has higher priority so operator intervention always overrides autonomous commands. Unlike ackermann_mux, safety gating is typically disabled here — the joystick may stop publishing ROSCCO when in Ackermann mode, and that should not trigger an emergency. Safety is handled at the ackermann_mux level instead.

See ackermann_mux for the full description of priority arbitration, masking, and safety gating logic — oscc_mux is an identical implementation for the ROSCCO message type.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	rclcpp_components
	rclcpp_lifecycle
	lifecycle_msgs
	roscco_msg
	std_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
interfacing_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `oscc_mux` at Robotics Stack Exchange

No version for distro jade showing jazzy. Known supported distros are highlighted in the buttons above.

oscc_mux package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/WATonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Priority-based Roscco command mux with masking and safety gating.

Maintainers

WATonomous

Authors

No additional authors.

oscc_mux

Priority-based multiplexer for ROSCCO commands (roscco_msg/Roscco). Same architecture as ackermann_mux but operates on the direct torque/throttle interface rather than Ackermann commands.

Overview

When the vehicle is in ROSCCO mode, multiple sources may want to send steering torque and throttle/brake commands. oscc_mux arbitrates between them using configurable priority levels and feeds the selected command to oscc_interfacing.

Architecture

/joystick/roscco  (priority 100) ─┐
/pid/roscco       (priority  10) ─┤──► oscc_mux ──► /roscco ──► oscc_interfacing

The joystick has higher priority so operator intervention always overrides autonomous commands. Unlike ackermann_mux, safety gating is typically disabled here — the joystick may stop publishing ROSCCO when in Ackermann mode, and that should not trigger an emergency. Safety is handled at the ackermann_mux level instead.

See ackermann_mux for the full description of priority arbitration, masking, and safety gating logic — oscc_mux is an identical implementation for the ROSCCO message type.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	rclcpp_components
	rclcpp_lifecycle
	lifecycle_msgs
	roscco_msg
	std_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
interfacing_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `oscc_mux` at Robotics Stack Exchange

No version for distro indigo showing jazzy. Known supported distros are highlighted in the buttons above.

oscc_mux package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/WATonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Priority-based Roscco command mux with masking and safety gating.

Maintainers

WATonomous

Authors

No additional authors.

oscc_mux

Priority-based multiplexer for ROSCCO commands (roscco_msg/Roscco). Same architecture as ackermann_mux but operates on the direct torque/throttle interface rather than Ackermann commands.

Overview

When the vehicle is in ROSCCO mode, multiple sources may want to send steering torque and throttle/brake commands. oscc_mux arbitrates between them using configurable priority levels and feeds the selected command to oscc_interfacing.

Architecture

/joystick/roscco  (priority 100) ─┐
/pid/roscco       (priority  10) ─┤──► oscc_mux ──► /roscco ──► oscc_interfacing

The joystick has higher priority so operator intervention always overrides autonomous commands. Unlike ackermann_mux, safety gating is typically disabled here — the joystick may stop publishing ROSCCO when in Ackermann mode, and that should not trigger an emergency. Safety is handled at the ackermann_mux level instead.

See ackermann_mux for the full description of priority arbitration, masking, and safety gating logic — oscc_mux is an identical implementation for the ROSCCO message type.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	rclcpp_components
	rclcpp_lifecycle
	lifecycle_msgs
	roscco_msg
	std_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
interfacing_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `oscc_mux` at Robotics Stack Exchange

No version for distro hydro showing jazzy. Known supported distros are highlighted in the buttons above.

oscc_mux package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/WATonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Priority-based Roscco command mux with masking and safety gating.

Maintainers

WATonomous

Authors

No additional authors.

oscc_mux

Priority-based multiplexer for ROSCCO commands (roscco_msg/Roscco). Same architecture as ackermann_mux but operates on the direct torque/throttle interface rather than Ackermann commands.

Overview

When the vehicle is in ROSCCO mode, multiple sources may want to send steering torque and throttle/brake commands. oscc_mux arbitrates between them using configurable priority levels and feeds the selected command to oscc_interfacing.

Architecture

/joystick/roscco  (priority 100) ─┐
/pid/roscco       (priority  10) ─┤──► oscc_mux ──► /roscco ──► oscc_interfacing

The joystick has higher priority so operator intervention always overrides autonomous commands. Unlike ackermann_mux, safety gating is typically disabled here — the joystick may stop publishing ROSCCO when in Ackermann mode, and that should not trigger an emergency. Safety is handled at the ackermann_mux level instead.

See ackermann_mux for the full description of priority arbitration, masking, and safety gating logic — oscc_mux is an identical implementation for the ROSCCO message type.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	rclcpp_components
	rclcpp_lifecycle
	lifecycle_msgs
	roscco_msg
	std_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
interfacing_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `oscc_mux` at Robotics Stack Exchange

No version for distro kinetic showing jazzy. Known supported distros are highlighted in the buttons above.

oscc_mux package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/WATonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Priority-based Roscco command mux with masking and safety gating.

Maintainers

WATonomous

Authors

No additional authors.

oscc_mux

Priority-based multiplexer for ROSCCO commands (roscco_msg/Roscco). Same architecture as ackermann_mux but operates on the direct torque/throttle interface rather than Ackermann commands.

Overview

When the vehicle is in ROSCCO mode, multiple sources may want to send steering torque and throttle/brake commands. oscc_mux arbitrates between them using configurable priority levels and feeds the selected command to oscc_interfacing.

Architecture

/joystick/roscco  (priority 100) ─┐
/pid/roscco       (priority  10) ─┤──► oscc_mux ──► /roscco ──► oscc_interfacing

The joystick has higher priority so operator intervention always overrides autonomous commands. Unlike ackermann_mux, safety gating is typically disabled here — the joystick may stop publishing ROSCCO when in Ackermann mode, and that should not trigger an emergency. Safety is handled at the ackermann_mux level instead.

See ackermann_mux for the full description of priority arbitration, masking, and safety gating logic — oscc_mux is an identical implementation for the ROSCCO message type.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	rclcpp_components
	rclcpp_lifecycle
	lifecycle_msgs
	roscco_msg
	std_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
interfacing_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `oscc_mux` at Robotics Stack Exchange

No version for distro melodic showing jazzy. Known supported distros are highlighted in the buttons above.

oscc_mux package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/WATonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Priority-based Roscco command mux with masking and safety gating.

Maintainers

WATonomous

Authors

No additional authors.

oscc_mux

Priority-based multiplexer for ROSCCO commands (roscco_msg/Roscco). Same architecture as ackermann_mux but operates on the direct torque/throttle interface rather than Ackermann commands.

Overview

When the vehicle is in ROSCCO mode, multiple sources may want to send steering torque and throttle/brake commands. oscc_mux arbitrates between them using configurable priority levels and feeds the selected command to oscc_interfacing.

Architecture

/joystick/roscco  (priority 100) ─┐
/pid/roscco       (priority  10) ─┤──► oscc_mux ──► /roscco ──► oscc_interfacing

The joystick has higher priority so operator intervention always overrides autonomous commands. Unlike ackermann_mux, safety gating is typically disabled here — the joystick may stop publishing ROSCCO when in Ackermann mode, and that should not trigger an emergency. Safety is handled at the ackermann_mux level instead.

See ackermann_mux for the full description of priority arbitration, masking, and safety gating logic — oscc_mux is an identical implementation for the ROSCCO message type.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	rclcpp_components
	rclcpp_lifecycle
	lifecycle_msgs
	roscco_msg
	std_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
interfacing_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `oscc_mux` at Robotics Stack Exchange

No version for distro noetic showing jazzy. Known supported distros are highlighted in the buttons above.

oscc_mux package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/WATonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Priority-based Roscco command mux with masking and safety gating.

Maintainers

WATonomous

Authors

No additional authors.

oscc_mux

Priority-based multiplexer for ROSCCO commands (roscco_msg/Roscco). Same architecture as ackermann_mux but operates on the direct torque/throttle interface rather than Ackermann commands.

Overview

When the vehicle is in ROSCCO mode, multiple sources may want to send steering torque and throttle/brake commands. oscc_mux arbitrates between them using configurable priority levels and feeds the selected command to oscc_interfacing.

Architecture

/joystick/roscco  (priority 100) ─┐
/pid/roscco       (priority  10) ─┤──► oscc_mux ──► /roscco ──► oscc_interfacing

The joystick has higher priority so operator intervention always overrides autonomous commands. Unlike ackermann_mux, safety gating is typically disabled here — the joystick may stop publishing ROSCCO when in Ackermann mode, and that should not trigger an emergency. Safety is handled at the ackermann_mux level instead.

See ackermann_mux for the full description of priority arbitration, masking, and safety gating logic — oscc_mux is an identical implementation for the ROSCCO message type.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	rclcpp_components
	rclcpp_lifecycle
	lifecycle_msgs
	roscco_msg
	std_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
interfacing_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `oscc_mux` at Robotics Stack Exchange