Synchronous Mode Example Code

How to run the example code

Place the desired path file under the path directory and enter the file name in the synchronous_mode.launch file as demonstrated in the code block below.

XML

<launch>
        <!-- args = "(path name)" -->
	<node pkg="gen_ros" type="synchronous_mode.py" name="sync_planner" args="kcity" output="screen" />

        <node pkg="rviz" type="rviz" name="rviz" args="-d $(find gen_ros)/rviz/sync_planner.rviz" />

</launch>

Run the modified launch file with roslaunch

BASH

roslaunch gen_ros synchronous_mode.launch

Demonstration video

This short video shows the synchronous mode module in action. In the Vehicle Info panel, you can see that the ego-vehicle’s control mode has changed to Synchronous Mode.