Refactor geometry_msgs::* to tf2:: datatypes where possible in controller.hpp

nobleo / path_tracking_pid

Path Tracking PID offers a tuneable PID control loop, decouling steering and forward velocity

Apache License 2.0

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Closed Rayman closed 2 years ago

Rayman commented 2 years ago

[ ] convert member variable geometry_msgs::Transform tf_base_to_steeredwheel
[ ] convert all geometry_msgs::Transform that are used as arguments
- [ ] maybe start with setPlan, move the conversion code to the ROS wrapper
- [ ] global_plan_ doesn't need to be a member