Waypoint Package
This package takes into account different waypoint functionalities for the vehicle's outer loop. Desired references are calculated so that the vehicle converges to the specified waypoint. The topic Flag is also closely monitored, since it dictates the general state of the vehicle (more on this below).
Nodes
Services
Dependencies
- None
The Flag Topic
The very global topic Flag (std_msgs/Int8) is used to specify the state in which the vehicle finds itself. In other words, the Flag topic determines if the vehicle should be idle, converging to a waypoint or following a path. It can be even redesigned to accommodate more states (custom) than the already defined in the table below:
| Flag | State |
|---|---|
| 0 | Idle |
| 4 | Waypoint |
| 6 | Path Following |
Last update:
November 23, 2022