Function publish_raceline

• Defined in File ros_utils.hpp

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