diff --git a/doc/logBuch.md b/doc/logBuch.md
index 8bf120d687524e04daf07e7868ca893efaed65d3..cb5eceb714553d1baff7c7bfa04f9c5ee05a8c2f 100644
--- a/doc/logBuch.md
+++ b/doc/logBuch.md
@@ -109,4 +109,14 @@ Mo. 05.02. (Schlingloff)
Mo. 12.02. (Schlingloff)
----------------------------------------------------------------
--
\ No newline at end of file
+- 14/8 LiPo-Akkus, ODROIDS, Shifter sind geliefert worden
+- Besprechung zukünftiger Termine:
+ - 04.04. (deadline) Kommunikationstest
+ - 16.04. 10.00 Interaktionstest
+ - 16.04. 10.00 Planung der Vorführung
+ - 18.05. 13.00 Generalprobe
+ - 22.05. Endtermin
+
+XX. XX.XX. (Schlingloff)
+----------------------------------------------------------------
+-
\ No newline at end of file
diff --git a/modules/CACC/.gitignore b/doc/modules/cruiseControl/.gitignore
similarity index 100%
rename from modules/CACC/.gitignore
rename to doc/modules/cruiseControl/.gitignore
diff --git a/modules/CACC/CACC-Module-Test.py b/doc/modules/cruiseControl/CACC-Module-Test.py
similarity index 100%
rename from modules/CACC/CACC-Module-Test.py
rename to doc/modules/cruiseControl/CACC-Module-Test.py
diff --git a/modules/CACC/car.py b/doc/modules/cruiseControl/car.py
similarity index 100%
rename from modules/CACC/car.py
rename to doc/modules/cruiseControl/car.py
diff --git a/modules/CACC/moduleCACC.tex b/doc/modules/cruiseControl/docCACC-content.tex
similarity index 58%
rename from modules/CACC/moduleCACC.tex
rename to doc/modules/cruiseControl/docCACC-content.tex
index 559a5f7fd0840236dfecdf100d35e96ed009d23e..02bf4ac52d39011fa05a97e2a205ecc6cf3dde0b 100644
--- a/modules/CACC/moduleCACC.tex
+++ b/doc/modules/cruiseControl/docCACC-content.tex
@@ -1,91 +1,10 @@
-\documentclass[fleqn,a4paper,12pt]{article}
-\usepackage{geometry}
-\geometry{left=30mm, right=40mm, bottom=30mm}
-\usepackage[german]{babel}
-\usepackage[utf8]{inputenc} %Für Umlaute
-
-\usepackage{amsmath} % Mathematische Symbole
-\usepackage{amssymb} % Nochmehr mathematische Symbole
-\usepackage{stmaryrd} % Für die [[ ]] Klammern (\llbracket, \rrbracket)
-\usepackage{dsfont} % Schriftsatz fuer Zahlenmengensymbole
-%\usepackage{verbatim} % erweiterte Verbatim-Umgebung
-\usepackage{alltt} % Quasi-Verbatim-Umgebung
-\usepackage{fancyhdr} % Eigene Kopfzeilen
-\usepackage{graphics} % Zum Einbinden von Grafiken
-\usepackage{tikz} % Zur Erstellung von Graphen
-\usepackage{listings} % Pseudo-Code Formatierung
-% Einbinden einer eps-Grafik geht so: includegraphics{path}
-
-% Seitenraender
-\addtolength{\voffset}{-2cm}
-\addtolength{\textheight}{0cm}
-\addtolength{\hoffset}{0cm}
-\addtolength{\textwidth}{2cm}
-%\addtolength{\headheight}{2cm} % fuer jeden Strichkode einen Zentimeter
-
-% Skalierung der Grafiken
-\setlength{\unitlength}{1cm}
-
-\pagestyle{fancy} % Eigene Kopfzeilen verwenden
-\frenchspacing % Kein Extrafreiraum nach Satzzeichen
-\setlength{\parindent}{0pt} % Neue Absaetze nicht einruecken
-%\sloppy % Schlampige Absatzformatierung
-\fussy % Penible Absatzformatierung
-\linespread{1.5} % Zeilenabstand
-
-%tikz-definition
-\tikzstyle{rec} = [minimum width=1cm, minimum height=0.8cm, align = left,text centered, draw=black]
-
-%andere Definitionen
-\newcommand{\R}{{\mathbb R}}
-\newcommand{\N}{{\mathbb N}}
-\newcommand{\Z}{{\mathbb Z}}
-\newcommand{\Q}{{\mathbb Q}}
-\newcommand{\C}{{\mathbb C}}
-\newcommand{\F}{\mathcal{F}}
-\newcommand{\less}{\setminus}
-\newcommand{\inv}{{}^{-1}}
-\newcommand{\Land}{\bigwedge}
-\newcommand{\Lor}{\bigvee}
-
-% Kopfzeile
-%\lhead{}
-%\rhead{}
-\lstset{ %
- %backgroundcolor=\color{}, % choose the background color; you must add \usepackage{color} or \usepackage{xcolor}; should come as last argument
- basicstyle=\footnotesize, % the size of the fonts that are used for the code
- breakatwhitespace=false, % sets if automatic breaks should only happen at whitespace
- breaklines=true, % sets automatic line breaking
- captionpos=b, % sets the caption-position to bottom
- %commentstyle=\color{mygreen}, % comment style
- %deletekeywords={...}, % if you want to delete keywords from the given language
- escapeinside={\%*}{*)}, % if you want to add LaTeX within your code
- extendedchars=true, % lets you use non-ASCII characters; for 8-bits encodings only, does not work with UTF-8
- %frame=single, % adds a frame around the code
- keepspaces=true, % keeps spaces in text, useful for keeping indentation of code (possibly needs columns=flexible)
- keywordstyle=\color{blue}, % keyword style
- language=Python, % the language of the code
- %morekeywords={*,...}, % if you want to add more keywords to the set
- numbers=left, % where to put the line-numbers; possible values are (none, left, right)
- numbersep=5pt, % how far the line-numbers are from the code
- numberstyle=\tiny,%\color{mygray}, % the style that is used for the line-numbers
- %rulecolor=\color{black}, % if not set, the frame-color may be changed on line-breaks within not-black text (e.g. comments (green here))
- showspaces=false, % show spaces everywhere adding particular underscores; it overrides 'showstringspaces'
- showstringspaces=false, % underline spaces within strings only
- showtabs=false, % show tabs within strings adding particular underscores
- stepnumber=1, % the step between two line-numbers. If it's 1, each line will be numbered
- stringstyle=\color{mymauve}, % string literal style
- tabsize=2, % sets default tabsize to 2 spaces
- title=\lstname % show the filename of files included with \lstinputlisting; also try caption instead of title
-}
-\begin{document}
- \section{CACC-Modul}
- \subsection{Problembeschreibung und Einordnung}
+\subsection{CACC-Modul}
+ \subsubsection{Problembeschreibung und Einordnung}
Das \textit{CACC}-Modul (Cooperativ adaptive curse controll) hat die Aufgabe dem eigenen Fahrzeug (eFZ) aus seinen aktuellen Daten und den Platoon-Daten eine neue Geschwindigkeit zu ermitteln, die das eFZ anstrebt um die gegebenen IPD und PS herzustellen und um Ziehharmonika-Effekte und Kollisionen zu vermeiden. Dafür stehen dem eFZ alle fahrzeuginternen sowie die Platoon-Daten IPD und PS zur Verfügung.\\
Die ermittelte Geschwindigkeit wird dann an den einen Controller weiter gegeben, der diese stetig auf den Motor umsetzt.\\
\\
\textit{Versuchsaufbau}\\
- \subsection{Ansätze und Herausforderungen}
+ \subsubsection{Ansätze und Herausforderungen}
Dazu gab es direkt 2 Ansätze. Der erste ist eine 2-State-Machine, die abwechselnd zwischen \textit{IPD herstellen} und \textit{PS herstellen} schaltet.\\
\\
\textit{State-Machine}\\
@@ -124,7 +43,7 @@ while (True):
\end{align*}
Damit lässt sich $v_o^\prime = f(v_o, d_o, v_p, d_{IPD}, v_{PS})$ darstellen.
- \subsection{Lösung}
+ \subsubsection{Lösung}
Zunächst betrachtet man folgende 3 Ungleichungen
\begin{align*}
d_{IPD} - tol(IPD)\le &d_o \le d_{IPD} + tol(IPD)\\
@@ -154,12 +73,6 @@ while (True):
\\
Also lässt $v_o^\prime = f(v_o, d_o, v_p, d_{IPD}, v_{PS}) = g(d_o, v_p, d_{IPD}, v_{PS})$ ausdrücken, da die optimale Geschwindigkeit, nicht von der $v_o$ abhängt oder abhängen muss, da der nach geschaltete Controller eigenständig von der aktuellen Geschwindigkeit $v_o$ auf $v_o^\prime$ reguliert.
- \subsection{Validierung}
+ \subsubsection{Validierung}
- \subsection{Implementierung}
-
-
-\end{document}
-
-
-
+ \subsubsection{Implementierung}
diff --git a/doc/modules/cruiseControl/docCACC-standalone.tex b/doc/modules/cruiseControl/docCACC-standalone.tex
new file mode 100644
index 0000000000000000000000000000000000000000..8467d82b10281bd52c2a9f4215361bfa9dddfe54
--- /dev/null
+++ b/doc/modules/cruiseControl/docCACC-standalone.tex
@@ -0,0 +1,74 @@
+\documentclass[fleqn,a4paper,12pt]{article}
+\usepackage{geometry}
+\geometry{left=30mm, right=40mm, bottom=30mm}
+\usepackage[german]{babel}
+\usepackage[utf8]{inputenc} %Für Umlaute
+
+\usepackage{amsmath} % Mathematische Symbole
+\usepackage{amssymb} % Nochmehr mathematische Symbole
+\usepackage{stmaryrd} % Für die [[ ]] Klammern (\llbracket, \rrbracket)
+\usepackage{dsfont} % Schriftsatz fuer Zahlenmengensymbole
+%\usepackage{verbatim} % erweiterte Verbatim-Umgebung
+\usepackage{alltt} % Quasi-Verbatim-Umgebung
+\usepackage{fancyhdr} % Eigene Kopfzeilen
+\usepackage{graphics} % Zum Einbinden von Grafiken
+\usepackage{tikz} % Zur Erstellung von Graphen
+\usepackage{listings} % Pseudo-Code Formatierung
+% Einbinden einer eps-Grafik geht so: includegraphics{path}
+
+% Seitenraender
+\addtolength{\voffset}{-2cm}
+\addtolength{\textheight}{0cm}
+\addtolength{\hoffset}{0cm}
+\addtolength{\textwidth}{2cm}
+%\addtolength{\headheight}{2cm} % fuer jeden Strichkode einen Zentimeter
+
+% Skalierung der Grafiken
+\setlength{\unitlength}{1cm}
+
+\pagestyle{fancy} % Eigene Kopfzeilen verwenden
+\frenchspacing % Kein Extrafreiraum nach Satzzeichen
+\setlength{\parindent}{0pt} % Neue Absaetze nicht einruecken
+%\sloppy % Schlampige Absatzformatierung
+\fussy % Penible Absatzformatierung
+\linespread{1.5} % Zeilenabstand
+
+%tikz-definition
+\tikzstyle{rec} = [minimum width=1cm, minimum height=0.8cm, align = left,text centered, draw=black]
+
+% Kopfzeile
+%\lhead{}
+%\rhead{}
+\lstset{ %
+ %backgroundcolor=\color{}, % choose the background color; you must add \usepackage{color} or \usepackage{xcolor}; should come as last argument
+ basicstyle=\footnotesize, % the size of the fonts that are used for the code
+ breakatwhitespace=false, % sets if automatic breaks should only happen at whitespace
+ breaklines=true, % sets automatic line breaking
+ captionpos=b, % sets the caption-position to bottom
+ %commentstyle=\color{mygreen}, % comment style
+ %deletekeywords={...}, % if you want to delete keywords from the given language
+ escapeinside={\%*}{*)}, % if you want to add LaTeX within your code
+ extendedchars=true, % lets you use non-ASCII characters; for 8-bits encodings only, does not work with UTF-8
+ %frame=single, % adds a frame around the code
+ keepspaces=true, % keeps spaces in text, useful for keeping indentation of code (possibly needs columns=flexible)
+ keywordstyle=\color{blue}, % keyword style
+ language=Python, % the language of the code
+ %morekeywords={*,...}, % if you want to add more keywords to the set
+ numbers=left, % where to put the line-numbers; possible values are (none, left, right)
+ numbersep=5pt, % how far the line-numbers are from the code
+ numberstyle=\tiny,%\color{mygray}, % the style that is used for the line-numbers
+ %rulecolor=\color{black}, % if not set, the frame-color may be changed on line-breaks within not-black text (e.g. comments (green here))
+ showspaces=false, % show spaces everywhere adding particular underscores; it overrides 'showstringspaces'
+ showstringspaces=false, % underline spaces within strings only
+ showtabs=false, % show tabs within strings adding particular underscores
+ stepnumber=1, % the step between two line-numbers. If it's 1, each line will be numbered
+ stringstyle=\color{mymauve}, % string literal style
+ tabsize=2, % sets default tabsize to 2 spaces
+ title=\lstname % show the filename of files included with \lstinputlisting; also try caption instead of title
+}
+\begin{document}
+ \input{docCACC-content.tex}
+\end{document}
+
+
+
diff --git a/modules/CACC/kalmanfilter.py b/doc/modules/cruiseControl/kalmanfilter.py
similarity index 100%
rename from modules/CACC/kalmanfilter.py
rename to doc/modules/cruiseControl/kalmanfilter.py
diff --git a/modules/CACC/simlifiedSpeedVisualization.py b/doc/modules/cruiseControl/simlifiedSpeedVisualization.py
similarity index 100%
rename from modules/CACC/simlifiedSpeedVisualization.py
rename to doc/modules/cruiseControl/simlifiedSpeedVisualization.py
diff --git a/doc/modules/environment/docEnvironment-content.tex b/doc/modules/environment/docEnvironment-content.tex
new file mode 100644
index 0000000000000000000000000000000000000000..eb7ef2e37f53592355425158bda4675e989f1c91
--- /dev/null
+++ b/doc/modules/environment/docEnvironment-content.tex
@@ -0,0 +1,10 @@
+\subsection{Environment-Modul}
+ \subsubsection{Problembeschreibung und Einordnung}
+
+ \subsubsection{Ansätze und Herausforderungen}
+
+ \subsubsection{Lösung}
+
+ \subsubsection{Validierung}
+
+ \subsubsection{Implementierung}
diff --git a/doc/modules/environment/docEnvironment-standalone.tex b/doc/modules/environment/docEnvironment-standalone.tex
new file mode 100644
index 0000000000000000000000000000000000000000..33aa438f7408f0a91c4aec09bca1d61b3442a097
--- /dev/null
+++ b/doc/modules/environment/docEnvironment-standalone.tex
@@ -0,0 +1,74 @@
+\documentclass[fleqn,a4paper,12pt]{article}
+\usepackage{geometry}
+\geometry{left=30mm, right=40mm, bottom=30mm}
+\usepackage[german]{babel}
+\usepackage[utf8]{inputenc} %Für Umlaute
+
+\usepackage{amsmath} % Mathematische Symbole
+\usepackage{amssymb} % Nochmehr mathematische Symbole
+\usepackage{stmaryrd} % Für die [[ ]] Klammern (\llbracket, \rrbracket)
+\usepackage{dsfont} % Schriftsatz fuer Zahlenmengensymbole
+%\usepackage{verbatim} % erweiterte Verbatim-Umgebung
+\usepackage{alltt} % Quasi-Verbatim-Umgebung
+\usepackage{fancyhdr} % Eigene Kopfzeilen
+\usepackage{graphics} % Zum Einbinden von Grafiken
+\usepackage{tikz} % Zur Erstellung von Graphen
+\usepackage{listings} % Pseudo-Code Formatierung
+% Einbinden einer eps-Grafik geht so: includegraphics{path}
+
+% Seitenraender
+\addtolength{\voffset}{-2cm}
+\addtolength{\textheight}{0cm}
+\addtolength{\hoffset}{0cm}
+\addtolength{\textwidth}{2cm}
+%\addtolength{\headheight}{2cm} % fuer jeden Strichkode einen Zentimeter
+
+% Skalierung der Grafiken
+\setlength{\unitlength}{1cm}
+
+\pagestyle{fancy} % Eigene Kopfzeilen verwenden
+\frenchspacing % Kein Extrafreiraum nach Satzzeichen
+\setlength{\parindent}{0pt} % Neue Absaetze nicht einruecken
+%\sloppy % Schlampige Absatzformatierung
+\fussy % Penible Absatzformatierung
+\linespread{1.5} % Zeilenabstand
+
+%tikz-definition
+\tikzstyle{rec} = [minimum width=1cm, minimum height=0.8cm, align = left,text centered, draw=black]
+
+% Kopfzeile
+%\lhead{}
+%\rhead{}
+\lstset{ %
+ %backgroundcolor=\color{}, % choose the background color; you must add \usepackage{color} or \usepackage{xcolor}; should come as last argument
+ basicstyle=\footnotesize, % the size of the fonts that are used for the code
+ breakatwhitespace=false, % sets if automatic breaks should only happen at whitespace
+ breaklines=true, % sets automatic line breaking
+ captionpos=b, % sets the caption-position to bottom
+ %commentstyle=\color{mygreen}, % comment style
+ %deletekeywords={...}, % if you want to delete keywords from the given language
+ escapeinside={\%*}{*)}, % if you want to add LaTeX within your code
+ extendedchars=true, % lets you use non-ASCII characters; for 8-bits encodings only, does not work with UTF-8
+ %frame=single, % adds a frame around the code
+ keepspaces=true, % keeps spaces in text, useful for keeping indentation of code (possibly needs columns=flexible)
+ keywordstyle=\color{blue}, % keyword style
+ language=Python, % the language of the code
+ %morekeywords={*,...}, % if you want to add more keywords to the set
+ numbers=left, % where to put the line-numbers; possible values are (none, left, right)
+ numbersep=5pt, % how far the line-numbers are from the code
+ numberstyle=\tiny,%\color{mygray}, % the style that is used for the line-numbers
+ %rulecolor=\color{black}, % if not set, the frame-color may be changed on line-breaks within not-black text (e.g. comments (green here))
+ showspaces=false, % show spaces everywhere adding particular underscores; it overrides 'showstringspaces'
+ showstringspaces=false, % underline spaces within strings only
+ showtabs=false, % show tabs within strings adding particular underscores
+ stepnumber=1, % the step between two line-numbers. If it's 1, each line will be numbered
+ stringstyle=\color{mymauve}, % string literal style
+ tabsize=2, % sets default tabsize to 2 spaces
+ title=\lstname % show the filename of files included with \lstinputlisting; also try caption instead of title
+}
+\begin{document}
+ \input{docEnvironment-content.tex}
+\end{document}
+
+
+
diff --git a/modules/CACC/moduleCACC.pdf b/modules/CACC/moduleCACC.pdf
deleted file mode 100644
index 9be862f69c9ca3f2770069c1760408d97823343d..0000000000000000000000000000000000000000
Binary files a/modules/CACC/moduleCACC.pdf and /dev/null differ
diff --git a/modules/catkin_ws/src/car/CMakeLists.txt b/modules/catkin_ws/src/car/CMakeLists.txt
index 71ddbfac629d8c7385625692e143027d876bddbd..1521b22e02ee5b06e00f9e1e4d9445fb39dbc52d 100644
--- a/modules/catkin_ws/src/car/CMakeLists.txt
+++ b/modules/catkin_ws/src/car/CMakeLists.txt
@@ -98,6 +98,7 @@ add_message_files(
rcEnabledMsg.msg
stmDataMsg.msg
ussDataMsg.msg
+ laneDataMsg.msg
)
generate_messages(
DEPENDENCIES
@@ -141,6 +142,10 @@ add_library(camera src/camera/camera.cpp)
add_dependencies(camera ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp)
target_link_libraries(camera ${catkin_LIBRARIES})
+add_library(lanekeeping src/lanekeeping/lanekeeping.cpp)
+add_dependencies(lanekeeping ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp)
+target_link_libraries(lanekeeping ${catkin_LIBRARIES})
+
install(
TARGETS
main_node
diff --git a/modules/catkin_ws/src/car/include/lanekeeping/lanekeeping.h b/modules/catkin_ws/src/car/include/lanekeeping/lanekeeping.h
new file mode 100644
index 0000000000000000000000000000000000000000..9446809bd234e8f7692655aaffceea9d54ee7c20
--- /dev/null
+++ b/modules/catkin_ws/src/car/include/lanekeeping/lanekeeping.h
@@ -0,0 +1,29 @@
+#ifndef LANEKEEPING_H
+#define LANEKEEPING_H
+
+#include <nodelet/nodelet.h>
+#include <ros/ros.h>
+
+#include "car/laneDataMsg.h"
+#include "car/camDataMsg.h"
+
+namespace car
+{
+ class Lanekeeping : public nodelet::Nodelet
+ {
+ public:
+ virtual void onInit();
+ Lanekeeping(ros::NodeHandle &nh, std::string &name);
+ Lanekeeping();
+ ~Lanekeeping();
+ private:
+ ros::NodeHandle nh_;
+ std::string name_;
+
+ ros::Publisher laneData;
+ ros::Subscriber camData;
+
+ void camDataCallback(const camDataMsg::ConstPtr& inMsg);
+ };
+}
+#endif
diff --git a/modules/catkin_ws/src/car/launch/fullstart.launch b/modules/catkin_ws/src/car/launch/fullstart.launch
index a0971bf81285e51db6cbd9a1edede9b64120ef84..5c39d9d8d3041864d4de71eaaa57595cdc979557 100644
--- a/modules/catkin_ws/src/car/launch/fullstart.launch
+++ b/modules/catkin_ws/src/car/launch/fullstart.launch
@@ -7,6 +7,7 @@
<node pkg="nodelet" type="nodelet" name="nodelet_environment" args="load car/environment Master"/>
<node pkg="nodelet" type="nodelet" name="nodelet_ultrasonic" args="load car/ultrasonic Master"/>
<node pkg="nodelet" type="nodelet" name="nodelet_camera" args="load car/camera Master"/>
+ <node pkg="nodelet" type="nodelet" name="nodelet_lanekeeping" args="load car/lanekeeping Master"/>
</launch>
<!--
diff --git a/modules/catkin_ws/src/car/msg/laneDataMsg.msg b/modules/catkin_ws/src/car/msg/laneDataMsg.msg
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/modules/catkin_ws/src/car/plugins/nodelet_plugins.xml b/modules/catkin_ws/src/car/plugins/nodelet_plugins.xml
index 38af8257faf35a8b914d1930f4b3b1eac87cf404..6726b019505016846a9f355cb3aeb9c384e75928 100644
--- a/modules/catkin_ws/src/car/plugins/nodelet_plugins.xml
+++ b/modules/catkin_ws/src/car/plugins/nodelet_plugins.xml
@@ -43,3 +43,13 @@
</description>
</class>
</library>
+
+<library path="lib/liblanekeeping">
+ <class name="car/lanekeeping"
+ type="car::Lanekeeping"
+ base_class_type="nodelet::Nodelet">
+ <description>
+ Missing
+ </description>
+ </class>
+</library>
diff --git a/modules/catkin_ws/src/car/src/lanekeeping/lanekeeping.cpp b/modules/catkin_ws/src/car/src/lanekeeping/lanekeeping.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..363f3d5456c2acc442589988aa52d760cd480c5b
--- /dev/null
+++ b/modules/catkin_ws/src/car/src/lanekeeping/lanekeeping.cpp
@@ -0,0 +1,36 @@
+#include <pluginlib/class_list_macros.h>
+#include <ros/ros.h>
+
+#include "lanekeeping/lanekeeping.h"
+
+#include "car/camDataMsg.h"
+#include "car/environmentDataMsg.h"
+
+PLUGINLIB_EXPORT_CLASS(car::Lanekeeping, nodelet::Nodelet);
+
+namespace car
+{
+ Lanekeeping::Lanekeeping(ros::NodeHandle &nh, std::string &name) :
+ nh_(nh),
+ name_(name)
+ { }
+
+ Lanekeeping::Lanekeeping() {}
+
+ Lanekeeping::~Lanekeeping() {}
+
+ void Lanekeeping::onInit()
+ {
+ NODELET_INFO("Lanekeeping::onInit -- START");
+ laneData = nh_.advertise<laneDataMsg>("laneData", 1);
+ camData = nh_.subscribe("camData", 1, &Lanekeeping::camDataCallback, this);
+ NODELET_INFO("Lanekeeping::onInit -- END");
+ }
+
+ void Lanekeeping::camDataCallback(const camDataMsg::ConstPtr& inMsg)
+ {
+ std::cout << "Lanekeeping recived new cam data ( ).\n";
+ }
+
+
+}