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Patrick Creighton edited this page Feb 4, 2022 · 3 revisions

The main planning code can be found in the python directory.

ROS Topics

UBC Sailbot Local Pathfinding Diagram July 10 2021 png

Inputs

/sensors - Sensors message containing GPS, wind sensor, accelerometer data, and more.
/AIS - AISMsg message containing latlon, heading, and speed information about other ships
/globalPath - path message containing a list of latlon waypoints

Outputs

/desired_heading_degrees - heading message containing the desired heading the autonomous boat should follow (for downstream controller)

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