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https://github.com/embedded-software-laboratory/cpm_lab/tree/master/high_level_controller/examples/matlab/basic_circle

Goal

The One single vehicle will drive in a basic circle with a radius of 1m. The center of the circle will be in the center of the map, but the circle will not be connected to the map.

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Define the ID of the vehicle you want to drive (In the case of the example it is ID "4"). Read the ID in from the LCC using the function "cmd_parameter_ints()" from our cpm library.

Initialize a DDS Writer for the RTI DDS Service to ensure that position and speed will be sent to the simulation and the vehicle. Write on the topic "vehicleCommandTrajectory" with datatype "VehicleCommandTrajectory". The topic's name is the name of the datatype with a lowercase letter.

Giving direction and speed

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