motion_decision
Enviornment
- Ubuntu 16.04 or 18.04
- ROS Kinetic or Melodic
Published topics
- /cmd_vel (geometry_msgs/Twist)
Subscribed topics
- /local_path/cmd_vel (geometry_msgs/Twist)
- /task/stop (std_msgs/Bool)
- /emergency_stop (std_msgs/Bool)
- /joy (sensor_msgs/Joy)
Parameters
- hz
- loop rate (default: 20)
- max_speed
- max speed (default: 1.0)
- max_yawrate
- max_yawrate (default: 1.0)