Struct PathFollowerParameters

Struct Documentation

struct PathFollowerParameters

Public Members

Raceline path

Object representing the raceline path.

bool enable_speed_override_ = false

Enable constant speed override.

float constant_speed_override_ = 0.0

Constant speed override value (m/s)

bool enable_steer_override_ = false

Enable constant steering override.

float constant_steer_override_ = 0.0

Constant steering override value (radians)

int max_lap_statistics_ = 0

maximum number of lap statistics to store

std::string reset_lap_statistics_topic_

Topic for resetting lap statistics.

bool speed_obtained = false

Whether the current speed has been obtained.

bool path_obtained = false

Whether the raceline path has been obtained.

rclcpp::Subscription<std_msgs::msg::Bool>::SharedPtr reset_lap_statistics_subscriber_

Subscriber for resetting lap statistics.

rclcpp::Publisher<nav_msgs::msg::Path>::SharedPtr raceline_publisher_

Publisher for the raceline.

rclcpp::Publisher<fsae_msgs::msg::LapPerformanceStamped>::SharedPtr lap_performance_publisher_

Publisher for lap performance.