Ensure all nodes are launched. Use roslaunch local_pathfinding all.launch
Type rostopic pub /new_boats ...
and press Tab twice to generate a message template and fill in the parameters for the ship you would like to add.
Type rostopic pub /delete_boats
and press Tab twice. Fill in the ID of the boats you want to remove.
Type rostopic pub /boat_on_path ...
and press Tab twice.
specify the addType as one of the following options:
-
addType = latlon
will just publish a boat with the specified parameters in addBoat.ship -
addType = nextWaypoint
will publish a boat at the next localWaypoint with the specified ID, heading, and speed in addBoat.ship (lat lon params are ignored) -
addType = onBoat
will publish a boat at the current location of the Sailbot with the specified ID, heading, and speed in addBoat.ship (lat lon params are ignored) -
addType = index
will publish a boat at localPath[addBoat.waypointIndex] with the specified ID, heading, and speed in addBoat.ship (lat lon params are ignored)