README

Raceline utils

This package contains utilities for handling raceline operation like: reading the csv, perform convertion between cartesian and frenet coordinate and find the look ahead for algorithms like path following.

Utilities Overview

1. “Frenet Converter”

This library provides functionalities for transforming between Frenet coordinate to Cartesian coordinate and vice versa.

Key Features

Conversion between Frenet (s, d) coordinates and Cartesian (x, y).

2. “Raceline Utilities”

This library includes functions for reading the csv raceline, converting the coordinate system between Freneth and Cartesian.

Key Features

Read csv file
Expose raceline information
Find nearest point and look ahead

Usage

In the CMakeLists.txt add:

find_package(raceline_utils REQUIRED)

target_link_libraries(your_pkg
                      ...
                      ...
                      raceline_utils::raceline_utils
)

Include the respective headers in your ROS2 nodes:

#include "raceline_utils.hpp"

License

This package is licensed under the MIT License.