Trajectory

Trajectory ROS Msg

RoboBuggy has a custom message to represent our trajectory. It is located at rb_ws/src/buggy/msg/TrajectoryMsg.msg, and contains the important information for a "packed" trajectory. This includes what time this trajectory was published, what index within the points we are at, and 2 arrays containing all the points representing the array, labeled easting and northing, in UTM format.

Paths

Our paths are currently json files located in rb_ws/src/buggy/paths. These json files can be visualized using ERacer, and contain the lat lon.

On initialization of the entire auton system, this JSON file is converted into a trajectory message and should be published to the appropriate channels, (at the time of writing this is global_traj and cur_traj)