Navigation PID is split into 3 nodes: speed, turn, and velocity. speed and turn listen to the desired velocity from /obstacle_reactance/velocity and the real velocity from /localization/velocity and calculates speeds and turn angles respectively to gradually adjust the speed and turn of the robot to match the desired speed and turn. speed and turn output to /navigation/speed and /navigation/turn respectively which are listened to by the velocity node. velocity repackages these into one message to be sent to Auto Control and the rest of the drive control system.
Navigation PID is split into 3 nodes:
speed,turn, andvelocity.speedandturnlisten to the desired velocity from/obstacle_reactance/velocityand the real velocity from/localization/velocityand calculates speeds and turn angles respectively to gradually adjust the speed and turn of the robot to match the desired speed and turn.speedandturnoutput to/navigation/speedand/navigation/turnrespectively which are listened to by thevelocitynode.velocityrepackages these into one message to be sent to Auto Control and the rest of the drive control system.