Function publish_raceline

Function Documentation

void publish_raceline(const rclcpp::Publisher<nav_msgs::msg::Path>::SharedPtr &publisher, const std_msgs::msg::Header &common_header, const std::vector<float> &x, const std::vector<float> &y)

Publishes the raceline as a nav_msgs::Path message.

Parameters:
  • publisher – Publisher for the raceline

  • common_header – Header for the raceline

  • x – X-coordinates of the raceline points

  • y – Y-coordinates of the raceline points