tier4_control_launch

Structure

Package Dependencies

Please see <exec_depend> in package.xml.

Usage

You can include as follows in *.launch.xml to use control.launch.py.

<include file="$(find-pkg-share tier4_control_launch)/launch/control.launch.py">
  <!-- options for lateral_controller_mode: mpc_follower, pure_pursuit -->
  <arg name="lateral_controller_mode" value="mpc_follower" />
</include>

Notes

For reducing processing load, we use the Component feature in ROS2 (similar to Nodelet in ROS1 )