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+<li class="toctree-l1"><a class="reference internal" href="Building Your Own Hardware.html">Building Your Own Hardware</a></li>
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+<li class="toctree-l1 current"><a class="current reference internal" href="#">About ROS</a><ul>
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+<li class="toctree-l3"><a class="reference internal" href="#topics-for-the-dbw-drive-by-wire-system">topics for the DBW (Drive by Wire) system</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#topics-for-visualization">topics for visualization</a></li>
+</ul>
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+<li class="toctree-l1"><a class="reference internal" href="End-to-End Steering.html">End-to-End Steering</a></li>
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+  <div class="section" id="about-ros">
+<h1>About ROS<a class="headerlink" href="#about-ros" title="Permalink to this headline">¶</a></h1>
+<div class="section" id="ros-packages-nodes">
+<h2>ROS Packages &amp; Nodes<a class="headerlink" href="#ros-packages-nodes" title="Permalink to this headline">¶</a></h2>
+<p>The self-driving golf cart run on the robotics middleware called ROS (Robot Operating System). Below you will find all the packages, nodes, topics and other information about ROS in this project. If you are new to ROS, I highly recommend you to check out their tutorials and examples on their website: <a class="reference external" href="http://wiki.ros.org/ROS/Tutorials">http://wiki.ros.org/ROS/Tutorials</a></p>
+<div class="section" id="gps">
+<h3>gps<a class="headerlink" href="#gps" title="Permalink to this headline">¶</a></h3>
+<p>The GPS package functions as a rudimentary localization sensor. Below are the nodes in the package.</p>
+<p>node(s):</p>
+<ul class="simple">
+<li>gps_receiver</li>
+<li>nmea_topic_driver</li>
+<li>nmea_topic_serial_reader</li>
+</ul>
+<p>The GPS package manages and publishes the data received from a GPS module connected via serial. The package publishes:</p>
+<p>topic(s)</p>
+<ul class="simple">
+<li>/sensor/gps/fix</li>
+<li>/sensor/gps/vel</li>
+</ul>
+</div>
+<div class="section" id="steering-control">
+<h3>steering_control<a class="headerlink" href="#steering-control" title="Permalink to this headline">¶</a></h3>
+<ul class="simple">
+<li>steering_control</li>
+</ul>
+<p>The steering control package controls the steering system of the vehicle. If publishes $ /vehicle/dbw/steering_cmds/ while subscribes to the camera feed. (Node currently functioning) The Arduino subsribes to the steering_cmds and controls the steering accordingly.</p>
+</div>
+<div class="section" id="cv-camera">
+<h3>cv_camera<a class="headerlink" href="#cv-camera" title="Permalink to this headline">¶</a></h3>
+<p>This is the camera (perception sensor) package.</p>
+<ul class="simple">
+<li>cv_camera_node</li>
+</ul>
+</div>
+<div class="section" id="driver">
+<h3>driver<a class="headerlink" href="#driver" title="Permalink to this headline">¶</a></h3>
+<p>The driver package is will run entire self-driving software. There are two launch files: <cite>display.launch</cite> &amp; <cite>drive.launch</cite>. The display launch file runs rviz. The drive launch file will run the self-driving systems, i.e. steering control, cruise control, sensors… (drive.launch under development. display.launch functioning)</p>
+<p>node(s):</p>
+<ul class="simple">
+<li>drive</li>
+</ul>
+<p>launch files:</p>
+<ul class="simple">
+<li>drive.launch</li>
+<li>display.launch</li>
+</ul>
+</div>
+<div class="section" id="osm-cartography">
+<h3>osm_cartography<a class="headerlink" href="#osm-cartography" title="Permalink to this headline">¶</a></h3>
+<p>This package broadcasts and processes .osm files. OSM files are OpenStreetMap files which contain detailed information about the environment, such as coordinates of roads, building and landmarks. Currently, the main function of the package is to broadcast the osm info to rviz for visualization. (Node currently functioning)</p>
+<p>node(s):</p>
+<ul class="simple">
+<li>osm_client</li>
+<li>osm_server</li>
+<li>viz_osm</li>
+</ul>
+<p>### localization</p>
+<p>### path_planning</p>
+<p>### cruise_control</p>
+<ul class="simple">
+<li>cruise_controller</li>
+</ul>
+<p>### tl_detection</p>
+<ul class="simple">
+<li>tl_detection</li>
+</ul>
+<p>### lane_detection</p>
+<ul class="simple">
+<li>lane_detection</li>
+</ul>
+<p>### object_detection</p>
+<ul class="simple">
+<li>object_detection</li>
+</ul>
+<p>### segmentation</p>
+<ul class="simple">
+<li>segmentation</li>
+</ul>
+</div>
+</div>
+<div class="section" id="important-ros-topics">
+<h2>Important ROS Topics<a class="headerlink" href="#important-ros-topics" title="Permalink to this headline">¶</a></h2>
+<div class="section" id="topics-for-the-dbw-drive-by-wire-system">
+<h3>topics for the DBW (Drive by Wire) system<a class="headerlink" href="#topics-for-the-dbw-drive-by-wire-system" title="Permalink to this headline">¶</a></h3>
+<ul class="simple">
+<li>/cv_camera_node/image_raw</li>
+<li>/vehicle/dbw/steering_cmds/</li>
+<li>/vehicle/dbw/accel_cmds/</li>
+<li>/sensor/steering_encoder/value</li>
+</ul>
+</div>
+<div class="section" id="topics-for-visualization">
+<h3>topics for visualization<a class="headerlink" href="#topics-for-visualization" title="Permalink to this headline">¶</a></h3>
+<ul class="simple">
+<li>/visual/steering/angle_img</li>
+<li>/visual/detection/object/bbox_img (x)</li>
+<li>/visual/detection/lane/marking_img (x)</li>
+<li>/visual/segmentation/seg_img (x)</li>
+</ul>
+<ol class="loweralpha simple" start="24">
+<li>implementing in progress</li>
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