Trajectory publisher publishes continous trajectories to the geometric controller
- /trajectory_publisher/initpos_x (default: 0.0)
- /trajectory_publisher/initpos_y (default: 0.0)
- /trajectory_publisher/initpos_z (default: 1.0)
- /trajectory_publisher/updaterate (default: 0.01)
- /trajectory_publisher/horizon (default: 1.0)
- /trajectory_publisher/maxjerk (default: 10.0)
- /trajectory_publisher/trajectory_type (default: 0)
- /trajectory_publisher/number_of_primitives (default: 7)
- /trajectory_publisher/shape_radius (default: 1.0)
The geometric controller publishes and subscribes the following topics.
-
Published Topics
- reference/trajectory ( nav_msgs/Path )
- reference/setpoint ( geometry_msgs/TwistStamped )
-
Subscribed Topics
- /trajectory_publisher/motionselector (std_msgs/int32);
- /mavros/local_position/pose ( geometry_msgs/PoseStamped )
- /mavros/local_position/velocity( geometry_msgs/TwistStamped )