• arrowMarker() : export_to_svg
• callback_base_pose_ground_truth() : move_obstacle , publish_ground_truth_obstacles
• cmd_callback() : cmd_vel_to_ackermann_drive
• convert_trans_rot_vel_to_steering_angle() : cmd_vel_to_ackermann_drive
• feedback_callback() : export_to_mat , export_to_svg , visualize_velocity_profile
• init_subscribers() : publish_ground_truth_obstacles
• move_object() : move_obstacle
• obstacleArrayMsg_callback() : visualize_obstacle_velocity_profile
• plot_velocity_profile() : visualize_velocity_profile
• plot_velocity_profiles() : visualize_obstacle_velocity_profile
• quaternion2YawDegree() : export_to_svg
• sign() : export_to_svg
• twist_callback() : visualize_obstacle_velocity_profile
• velocity_plotter() : visualize_obstacle_velocity_profile