December 2019
Intermediate to advanced
456 pages
11h 33m
English
Content preview from ROS Robotics Projects - Second Edition
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Software block diagram of self-driving cars
In this section, we will discuss a basic software block diagram of a self-driving car that was in the DARPA Challenge:
Software block diagram of a self-driving car
Each block can interact with others using Inter-Process Communication (IPC) or shared memory. ROS messaging middleware is a perfect fit in this scenario. In the DARPA Challenge, they implemented a publish/subscribe mechanism to do these tasks. One of the IPC library development by MIT for the 2006 DARPA Challenge was Lightweight Communications and Marshalling (LCM). You can learn more about LCM at the following link: https://lcm-proj.github.io/ ...
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