Explanation of Python The implementation of the python files is essentially a verys simple version of ROS
Utility constants.py : constants and utility rosLib.py : ros library udpReceiver.py : utility for recieving messages over wifi
ROS nodes arduinoNode.py : responsible for communication to arduino relay controlNode.py : responsible for control and feedback and motion executiveNode.py : responsible for overall action, and wifi relay rplidarNode.py : responsible for communication to rplidar c file
ROS topics Quad Pwm : (ail, ele, thr, rud) Rangefinder : (left, right) Behavior : int RPLidar : [(quality, angle, distance)]
Other main.py : putting it all together, run this file rplidar_sdk/output/Linux/Release/ultra_simple : this file is activated by rplidarNode.py, but you can mess with it yourself rplidar_sdk/app/ultra_simple/main.cpp : source code of a highly modified version of the original ultra_simple app
Instructions:
$ cd