Raceline creation (#105)

* added raceline + added better ghost_nand * fixed config * updated raceline paths --------- Co-authored-by: Buggy <[email protected]>
CMU-Robotics-Club · Sep 15, 2024 · 8ef5112 · 8ef5112
1 parent 72a04b3
commit 8ef5112
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diff --git a/rb_ws/src/buggy/launch/ghost_auton.launch b/rb_ws/src/buggy/launch/ghost_auton.launch
@@ -1,12 +1,12 @@
 <!-- roslaunch buggy main.launch -->
 
 <launch>
-    <arg name="controller"      default="mpc" />
+    <arg name="controller"      default="stanley" />
     <arg name="start_dist"      default="0.0" />
     <arg name="path"      default="buggycourse_raceline.json" />
 
     <!-- run a sim with name = NAND at velocity ~= 0 -->
-    <arg name="starting_pose"    default="PASS_PT" />
+    <arg name="starting_pose"    default="RACELINE_PASS" />
     <arg name="velocity"         default="0.0001" />
     <arg name="buggy_name"       default="NAND" />