virat_fake

Package containing fake nodes for debugging and demonstration purposes

Nodes

• fake_path

  • Sends fake path coordinates to follow, useful for controller debugging and demo

Dependancies

• virat_msgs

Usage

Send fake path coordintes to controller

Initialise controller (Important !)

roslaunch mpc_controller controller_init.launch

Send fake path coordinates

roslaunch virat_fake send_fake_path.launch

Visualize paths in rviz

Launch world

roslaunch virat_gazebo igvc_basic.launch

Launch rviz

roslaunch virat_gazebo virat_rviz.launch

Initialise Controller

roslaunch virat_controller controller_init.launch

Send fake path to controller (or use path from path planning module)

roslaunch virat_fake send_fake_path.launch