README.md

Global Trajectory Republisher

This package contains the global trajectory republisher which currently plays the central role of providing the trajectory to the racing system.

Currently the trajectory is the re-published in the following way:

1. During mapping, a rosbag is recorded, so that when the trajectory is computed it will be recorded with the bag
2. When the base_system is launched, the rosbag is played and the global_trajectory_publisher is launched. This node reads the trajectory and then periodically republishes the trajectory even after the bag stops playing.

How to use the ellipse map for experiments:

1. SSH into the car and launch teleop with roslaunch racecar pbl_teleop.launch racecar_version:=NUC2.
2. Launch roslaunch gb_traj_publisher gb_traj.launch exp:=ellipse to get the ellipse trajectory. Also open rviz via the pitstarter script.
3. Add the topic /gb_traj_markers to see the ellipse.
4. Place some objects arround the ellipse such that SLAM locilisation works.
5. Create a folder at ~/catkin_ws/src/race_stack/stack_master/maps.
6. Drive one lap to map.
7. Call ./finish_map.sh ~/catkin_ws/src/race_stack/stack_master/maps/test/test.pbstream with the right path to the above created folder.
8. Now the pbstream is saved. We now run roslaunch racecar pbl_teleop.launch racecar_version:=NUC2 loc_only:=True map_name:=test. You might have to copy existing ot_sector and speed_scaling yaml files to make it work.
9. Relaunch the roslaunch gb_traj_publisher gb_traj.launch exp:=ellipse to publish the trajectory. Take this trajectory for the controller.

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