ROS2 Simple Path Publisher & Subscriber

Basic route publisher and subscriber for ROS2 Galactic.

The polygon vehicle can follow the root with this package.

Dependencies

nav2-msgs

std-msgs

Build and run package with following commands

colcon build --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_EXPORT_COMPILE_COMMANDS=1

ros2 launch path_tracker path_launch.py

Parameter	Type	Description
`frequency`	`double`	Vehicle speed parameters in seconds
`car_length`	`double`	Length of the car
`car_width`	`double`	Width of the car
`path_topic`	`string`	Subscribed path topic
`publish_vehicle_topic`	`string`	Publish vehicle topic