Contains ROS pacakges for motion planning and control.
Provides PD heading controller
- desired heading
- monitored heading
- motion command
- switch for enabling/disabling heading controller
roslaunch heading_control heading_control.launch
Plans and executes the motion
- desired heading
- monitored heading
- command velocities to the platform controller
- switch for enabling/disabling motion planner & controller
- configuring motion planner and controller params
- service for changing motion controller mode
roslaunch motion_control motion_control.launch
All the low level control sub-compoenents can be run together using low_level_control
meta-package as follows
roslaunch low_level_control low_level_control.launch