File frenet_overtaking_node.hpp

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

Definition (include/frenet_overtaking_node.hpp)

Detailed Description

The Class FrenetOvertakingNode 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 (File frenet_overtaking.hpp)

  • geometry_msgs/msg/point_stamped.hpp

  • lap_performance.hpp (File lap_performance.hpp)

  • memory

  • nav_msgs/msg/odometry.hpp

  • nav_msgs/msg/path.hpp

  • raceline_utils.hpp

  • rclcpp/rclcpp.hpp

  • ros_utils.hpp (File ros_utils.hpp)

  • sensor_msgs/msg/laser_scan.hpp

  • spline_and_polynomial.hpp (File spline_and_polynomial.hpp)

  • std_msgs/msg/bool.hpp

  • steering_controller.hpp (File steering_controller.hpp)

  • string

  • tf2/LinearMath/Quaternion.h

  • tf2/utils.h

  • tf2_geometry_msgs/tf2_geometry_msgs.h

  • utils.hpp (File ros_utils.hpp)

  • vector

  • visualization_msgs/msg/marker_array.hpp

Classes