This controller package implements the following controllers, with more details in the respective READMEs:
The control_node implemented in controller_manager.py initializes the needed controllers. It runs at a specified loop rate where in each cycle the next control inputs are calculated via the choosen controller.
This nodes subscribes to:
/perception/obstacles: Subscribes to the obstacle array./car_state/odom: Reads the car's state/car_state/pose: Reads the car's state/car_state/odom_frenet: Reads the car's state/local_waypoints: Subscribes to local waypoints./vesc/sensors/imu/raw: Reads the IMU measurements./scan: Reads the LiDAR scans./state_machine: Listens to the state of the state machine./l1_param_tuner/parameter_updates: Listens to the L1 parameters.
The node publishes to:
/vesc/high_level/ackermann_cmd_mux/input/nav_1: Publishes the control commands./lookahead_point: Publishes lookahead point marker./trailing_opponent_marker: Published trailing opponend marker./my_waypoints: Publishes marker array of the received waypoints./l1_distance: Publishes the L1 distance./trailing/gap_data: Publishes the PID data for trailing./controller/latency: Publishes the latency of the controller.