Node and Topic Nomenclature

Terminal Modules

Launch: terminals.launch

Node Name: logitech_camera DONE
Publications: logitech_camera/image

Node Name: hokuyo_lidar
Publications: hokuyo_lidar/scan

Node Name: vn_ins DONE
Publications: vn_ins/fix, vn_ins/yaw

Node Name: sparkfun_ahrs
Publications: sparkfun_ahrs/yaw

Node Name: eklavya3_interface
Services: eklavya3_interface/controls, eklavya3_interface/state

Lane Detector Module

Launch: module.launch

Node Name: lane_detector DONE
Subscriptions: logitech_camera/image
Publications: lane_detector/lanes, lane_detector/confidence

Node Name: lane_detector_debugger
Remap: lane_detector/lanes_on_original

Obstacle Detector Module

Launch: module.launch

Node Name: obstacle_detector DONE
Subscriptions: hokuyo_lidar/scan
Publications: obstacle_detector/obstacles

Data Fuser Module

Launch: module.launch

Node Name: data_fuser DONE
Subscriptions: lane_detector/lanes, obstacle_detector/obstacles
Publications: data_fuser/map

Node Name: data_fuser_debugger
Remap: data_fuser/map

Way Point Selector Module

Launch: module.launch

Node Name: waypoint_selector
Subscriptions: vn_ins/fix, local_planner/status
Publications: waypoint_selector/next_waypoint, waypoint_selector/nml_flag

Navigator Modules

Node Name: waypoint_navigator
Subscriptions: waypoint_selector/next_waypoint, vn_ins/fix
Publications: waypoint_navigator/target

Node Name: lane_navigator DONE
Subscriptions: lane_detector/lanes
Publications: lane_navigator/target

Node Name: nose_navigator
Subscriptions: sparkfun_ahrs/yaw
Publications: nose_navigator/target

Node Name: dummy_navigator DONE
Publications: dummy_navigator/target

Planner Module

Launch: unit_test.launch, module.launch

Node Name: strategy_planner
Subscriptions: lane_navigator/target, lane_detector/confidence, waypoint_navigator/target, waypoint_selector/nml_flag, nose_navigator/target, dummy_navigator/target, local_planner/status
Publications: strategy_planner/target, strategy_planner/strategy

Node Name: local_planner DONE
Subscriptions: strategy_planner/target, data_fuser/map
Publications: local_planner/path, local_planner/seed, local_planner/status

Node Name: local_planner_debugger DONE
Subscriptions: local_planner/path, strategy_planner/target, data_fuser/map

Node Name: local_planner_unit_tester
Publications: strategy_planner/target, data_fuser/map

Pilot Module

Node Name: eklavya3_pilot
Subscriptions: local_planner/seed, local_planner/status
Client Call: eklavya3_interface/controls