URC Controller #354
Description
Goal: Make a controller for the urban challenge that is able to switch between planners. It should use our navigation_controller for the start light and finish line logic and use the urc controller as a state machine to orchestrate. You can look at the old controller
to see how it was done.
URC Controller:
- Subscribe to lane keeper speed & steering (
lane_keeper/speed...) - Subscribe to turn action speed & steering (
turning_action/speed...) - Lane Keeping: Passthrough lane keeper controls (
/lane_keeper/speed->/speed) - If received sign direction store it (
/turn_action:{LEFT, RIGH, STRAIGHT)) - Once you arrive at a stop bar
/stop_bar_arrived: Bool), call turning action (/turning_action/speed->/speed) - Action completed the turn, return to lane-keeping
Files Edited (at least): rr_iarrc/src/urc_controller/urc_controller.cpp
Success Criteria:
- Node parameters configurable through the launch file
- All topic names should be configurable since they might change at any time
- Test with Urban Challenge Simulation, might have to manually publish on some topics to test since this relied on other pending issues.