It's simple racer simulation based on ROS
NOTICE: In the flowchart - "yes" is always rightmost arrow, while "no" is always leftmost arrow with respect to the decision blocks
To run the program: in separate terminals do the following after catkin_make & roscore:
rosrun stage_ros stageros $(rospack find second_assignment)/world/my_world.world
rosrun second_assignment publisher.cpp
rosrun second_assignment subscriber.cpp