motion_decision

Enviornment

• Ubuntu 20.04
• ROS Noetic

Published topics

• /cmd_vel (geometry_msgs/Twist)

Subscribed topics

• /local_path/cmd_vel (geometry_msgs/Twist)
• /emergency_stop (std_msgs/Bool)
• /joy (sensor_msgs/Joy)

services

• /task/stop (std_srvs/SetBool)

Parameters

• hz
  • loop rate (default: 20)
• max_speed
  • max speed (default: 1.0)
• max_yawrate
  • max_yawrate (default: 1.0)