.. _file_include_frenet_overtaking_node.hpp:

File frenet_overtaking_node.hpp
===============================

|exhale_lsh| :ref:`Parent directory <dir_include>` (``include``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS



ROS2 node that implements the Frenet Optimal Trajectory algorithm for controlling the car along a raceline and overtaking obstacles. 



.. contents:: Contents
   :local:
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Definition (``include/frenet_overtaking_node.hpp``)
---------------------------------------------------




Detailed Description
--------------------

The :ref:`exhale_class_classFrenetOvertakingNode` class is a ROS2 node that subscribes to odometry, pose, and laser scan messages, and publishes Ackermann drive commands to control a vehicle along a raceline. The node implements the Frenet Optimal Trajectory algorithm for steering control, and uses a PD controller for speed control. The node also supports dynamic parameter updates for tuning the controller gains and other parameters. 




Includes
--------


- ``ackermann_msgs/msg/ackermann_drive_stamped.hpp``

- ``cmath``

- ``f1tenth_msgs/msg/lap_performance.hpp``

- ``f1tenth_msgs/msg/lap_performance_stamped.hpp``

- ``f1tenth_msgs/msg/raceline_stamped.hpp``

- ``frenet_overtaking.hpp`` (:ref:`file_include_frenet_overtaking.hpp`)

- ``geometry_msgs/msg/point_stamped.hpp``

- ``lap_performance.hpp`` (:ref:`file_include_lap_performance.hpp`)

- ``memory``

- ``nav_msgs/msg/odometry.hpp``

- ``nav_msgs/msg/path.hpp``

- ``raceline_utils.hpp``

- ``rclcpp/rclcpp.hpp``

- ``ros_utils.hpp`` (:ref:`file_include_ros_utils.hpp`)

- ``sensor_msgs/msg/laser_scan.hpp``

- ``spline_and_polynomial.hpp`` (:ref:`file_include_spline_and_polynomial.hpp`)

- ``std_msgs/msg/bool.hpp``

- ``steering_controller.hpp`` (:ref:`file_include_steering_controller.hpp`)

- ``string``

- ``tf2/LinearMath/Quaternion.h``

- ``tf2/utils.h``

- ``tf2_geometry_msgs/tf2_geometry_msgs.h``

- ``utils.hpp`` (:ref:`file_include_ros_utils.hpp`)

- ``vector``

- ``visualization_msgs/msg/marker_array.hpp``






Classes
-------


- :ref:`exhale_class_classFrenetOvertakingNode`