igvc_navigation

igvc_navigation provides the robot with the ability to map the environment, localize itself, and plan paths that will guide it to a GPS waypoint without hitting obstacles (i.e. barriers, lines) along the way. As such, the package makes use of five main nodes:

• mapper
• path_follower
• path_planner
• waypoint_source
• wheel_odomoter

Additionally, igvc_navigation employs robot_localization's ekf_localization_node for state estimation and navsat_transform_node to produce gps coordinates consistent with the robot's world frame (/odom, in our case).