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obj_planner

From package 'obj_planner'

File

./src/ObjPlannerNode_node.cpp

Summary

This node impliments a path planner for a vehicle that can detect objects on each side of the road. It rapidly produces paths formed by pairing these detections across the path.

Topics

Publishes

  • /path: Created path, in the configured path frame.

Subscribes

  • /tracks: Poses for each detected object.

Params

  • debug: Displays an OpenCV debug window for the convex hull
  • test_latency: Logs latency taken per planning cycle.
  • path_frame: Frame the path is transformed into before publishing. Defaults to odom.