URC Controller

[Daniel-Martin576]

Goal: Make a controller for the urban challenge that is able to switch between planners. It should use our navigation_controller for the start light and finish line logic and use the urc controller as a state machine to orchestrate. You can look at the old controller to see how it was done.

URC Controller:

• Subscribe to lane keeper speed & steering (lane_keeper/speed...)
• Subscribe to turn action speed & steering (turning_action/speed...)
• Lane Keeping: Passthrough lane keeper controls (/lane_keeper/speed -> /speed)
• If received sign direction store it (/turn_action:{LEFT, RIGH, STRAIGHT))
• Once you arrive at a stop bar /stop_bar_arrived: Bool), call turning action (/turning_action/speed -> /speed)
• Action completed the turn, return to lane-keeping

Files Edited (at least): rr_iarrc/src/urc_controller/urc_controller.cpp

Success Criteria:

• Node parameters configurable through the launch file
  • All topic names should be configurable since they might change at any time
• Test with Urban Challenge Simulation, might have to manually publish on some topics to test since this relied on other pending issues.