ROS2 Simple Path Publisher & Subscriber

Basic route publisher and subscriber for ROS2 Galactic.

The polygon vehicle can follow the root with this package.

Dependencies

nav2-msgs

std-msgs

Installation

Build and run package with following commands

colcon build --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_EXPORT_COMPILE_COMMANDS=1

ros2 launch path_tracker path_launch.py 

Parameters

Parameters in yaml file

Parameter	Type	Description
frequency	double	Vehicle speed parameters in seconds
car_length	double	Length of the car
car_width	double	Width of the car
path_topic	string	Subscribed path topic
publish_vehicle_topic	string	Publish vehicle topic

Screenshots

Authors

• @hasanzfdn