Overall ROS structure - Ridgebeck/CarND-Capstone-Team-Herbie GitHub Wiki

Following a simplified graph with the ROS nodes that are part of the project and the topics that are published and subscribed by the nodes. The code of the green colored nodes had to be changed, while the white ones were already established and could stay the same.

The overall ROS graph shows the additional nodes that were needed in the project but had not to be changed by us. The node /waypoint_loader contained the complete waypoints and only published them once right after starting up the ROS master. The node /pure_pursuit took the final waypoints and calculated the twist command for /dbw_node, which then calculated the steering, brake, and velocity command of the vehicle. Those topics were then received by /styx_server which communicated directly with the simulator.