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README.md

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README.md

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How to add and delete boats

Ensure all nodes are launched. Use roslaunch local_pathfinding all.launch

Add Boats

Type rostopic pub /new_boats ... and press Tab twice to generate a message template and fill in the parameters for the ship you would like to add.

Delete Boats

Type rostopic pub /delete_boats and press Tab twice. Fill in the ID of the boats you want to remove.

Add boats using other methods

Type rostopic pub /boat_on_path ... and press Tab twice.

specify the addType as one of the following options:

  1. addType = latlon will just publish a boat with the specified parameters in addBoat.ship

  2. addType = nextWaypoint will publish a boat at the next localWaypoint with the specified ID, heading, and speed in addBoat.ship (lat lon params are ignored)

  3. addType = onBoat will publish a boat at the current location of the Sailbot with the specified ID, heading, and speed in addBoat.ship (lat lon params are ignored)

  4. addType = index will publish a boat at localPath[addBoat.waypointIndex] with the specified ID, heading, and speed in addBoat.ship (lat lon params are ignored)