##Subfolders

• sensors
  • Take in data from phyical things and spit out minimally processed data (generally)
  • could also be "lines" in that the sensor returns a set of lines
  • nodes
    • camera
      • courtesy of [usb_cam]
    • gps
      • courtesy of [NMEA_NavSat]
    • lidar
      • courtesy of [hokuyo_node]
    • encoder(s)
      • courtesy of RoboJackets
      • axle encoders provide PD values
      • steering encoders are just potentiometers
      • we may want to do additional processing, but that can come later
  • topics
    • ../image_raw
    • scan
• processors
  • take in sensor data, process it and provide information about the external world
  • these can essentially be used to build a world model
  • nodes
    • classifier
    • short range lane detector
    • image_projected
      • takes in image_raw data
      • provides processed data with magic geometry and color preprocessing
    • lane extractor
    • obstacle extractor
  • topics
    • road_class_train
    • road_class
    • ../image_projected
    • lanes
    • obstacles
    • blocked
• planners
  • take in world model information and emit real world data
  • for example "turn left 5 degrees"
  • nodes
    • stay right
    • driver
    • teleop_joy (human control)
  • topics
    • planned_path
    • planned_pose(s)
• actuator
  • takes in planner results ("go forward 10 feet", "turn left 5 degrees") and emit machine instructions for motor controllers, etc.
• test
  • Scripts and other test code, used for validating car subsystems.
• eleanor
  • Files used to run the existing power wheels car
  • contains:
    • buzzmobile_launch - Launch files for starting the car systems.
    • navigator - Navigator node used to navigate the car across a graph of waypoints.
    • steering/arduino - The arduino sketch for the steering system, built on an Arduino Uno and Arduino motor controller.
    • steering/ros - ROS nodes to control the steering arduino sketch using "joy"

##Topics

• ../image_raw
  • namespaced raw camera data
• road_class_train
  • the data used to train the road classifier
• road_class
  • ternary road classification output
• ../image_projected
  • namespaced projections of images
• scan
  • lidar laser scan depth information
• lanes
  • lanes, in terms of high level road lanes as detected
• obstacles
  • things that we consider unusual, obstacles
• planned_path