...

Communication between HLC and Middleware

The IDL types for the DDS communication of HLC and middleware are located here: https://git.rwth-aachen.de/CPM/Project/Lab/Students/Rabanus/software/tree/master/IDL

It contains three different model of operating the vehicles: direct, speed-curvature and trajectory mode. In direct mode, speed and curvature are given as values between -1 and 1, refering to minimum and maximum, respectively. The speed-curvature mode handles speed and curvature values as m/s and 1/m. In trajectory mode, different poses are referenced to timesteps. In this case, the vehicles use on-board controllers to drive the given trajectory.

TODO: Mention IDL type / what it does / what the middleware expects, refer to Matlab tutorial

...