Planning

Compilaton

Note: If you want clangd to provide good autocorrect do: colcon build --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=1 and cp build/compile_commands.json .

Build with: colcon build.

Usage

Planning takes in map data and outputs two objects:

1. TargetPath. A list of waypoints relative to the car.
2. SpeedProfile. A list of speeds that control should follow.

These are then ingested by control.

Debugging

See here for documentation.