文章目录
一、可以学到的?
解析多个保存数据的文件
按逗号把多个航路点分列为字符串
将字符串转化为float
二、程序分析
1.launch文件
定义参数局部变量
启动节点
waypoint_loader // 航路点加载
waypoint_replanner // 重规划
waypoint_marker_publisher // 航路点可视化发布
<?xml version="1.0"?>
<launch>
<arg name="load_csv" default="false" />
<arg name="multi_lane_csv" default="/tmp/driving_lane.csv" />
<arg name="replanning_mode" default="False" />
<arg name="realtime_tuning_mode" default="False" />
<arg name="resample_mode" default="True" />
<arg name="resample_interval" default="1.0" />
<arg name="replan_curve_mode" default="False" />
<arg name="overwrite_vmax_mode" default="False" />
<arg name="replan_endpoint_mode" default="True" />
<arg name="velocity_max" default="20" />
<arg name="radius_thresh" default="20" />
<arg name="radius_min" default="6" />
<arg name="velocity_min" default="4" />
<arg name="accel_limit" default="0.5" />
<arg name="decel_limit" default="0.3" />
<arg name="velocity_offset" default="4" />
<arg name="braking_distance" default="5" />
<arg name="end_point_offset" default="1" />
<arg name="use_decision_maker" default="false" />
<!-- rosrun waypoint_maker waypoint_loader _multi_lane_csv:="path file" -->
<node pkg="waypoint_maker" type="waypoint_loader" name="waypoint_loader" output="screen" if="$(arg load_csv)">
<param name="multi_lane_csv" value="$(arg multi_lane_csv)" />
</node>
<node pkg="waypoint_maker" type="waypoint_replanner" name="waypoint_replanner" output="screen">
<param name="replanning_mode" value="$(arg replanning_mode)" />
<param name="realtime_tuning_mode" value="$(arg realtime_tuning_mode)" />
<param name="resample_mode" value="$(arg resample_mode)" />
<param name=