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)