Todo List

Member Course::Course (Navigator *_nav, int _verbose)

Use ROS tf instead of art_map/rotate_translate_transform

Member Estimate::control_pose (const nav_msgs::Odometry &odom, ros::Time est_time, nav_msgs::Odometry &est)

Extrapolate speed and yaw rate using change from last cycle. Use average of current and estimated derivatives to estimate control position. When the car is accelerating, look farther ahead.

Member Estop::ActionToRun (pilot_command_t &pcmd)

implement 5 second hesitation before actually starting

Member Navigator::Navigator (nav_msgs::Odometry *odom_msg)

Add ROS-style obstacle detection.

Class Obstacle

Add ROS-style ObstacleGrid input.

Add ART-style Observers input.

File queue_mgr.cc

Add Observers interface.

Member Road::ActionInEvade (pilot_command_t &pcmd)

Either implement the Evade controller or delete it.

File ros_node.cc

Make separate ROS packages for commander, navigator and pilot.

Member Run::go (pilot_command_t &pcmd)

either implement blockage handling or delete it.

Member Stop::Stop (Navigator *navptr, int _verbose)

Reconcile this with the StopLine controller, which has an incompatible interface.