traj_controller

Node for the trajectory controller. This package publishes krssg_ssl_msgs/SSL_DetectionFrame.msg on the topic /grsim_data. This package subscribes vision data from the topic /vision.

Dependencies

krssg_ssl_msgs grsim_comm vision_comm

Runing

Open up four terminal windows. Terminal 1

roscore

Terminal 2

rosrun vision_comm vision_node 1

Terminal 3

rosrun grsim_comm grsim_node

Terminal 4

rosrun traj_controller traj_node

Note: Currently a hard-coded circular trajectory is implemented for testing purposes.