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RealCabot/local_planner
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SUBSCRIBE: /pose that will have pose of current location of Cabot from localizer node geometry_msgs/Pose2D PUBLISH: /leftval - float32 left motor velocity /rightval - float32 right motor velocity -User has to manually publish current position to /pose topic -When localization is integrated, current location will be continually updated by subsribing to the node -Grabs waypoints from the .yaml file in the config directory -MIGHT NEED TO CHANGE MATH EQUATIONS AFTER TESTING (map velocities differently)
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Moves from one waypoint to another
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