source dev/setup.bash
export ~~
gps
perception
perception 아래에서 rosrun lego_loam run.launch(slam)
Detection
detection 아래에서 detection dectec.py(yolo5)
Main
driven 아래에서 rosrun main_thread.py(메인)
if(b == true){ h_cnt2 = true; h_cnt1 = false; } else if(c == true){ h_cnt2 = false; h_cnt1 = true; } if(d == true){ EST_cnt = false; } else if(d == false){ EST_cnt = true; } return; }void Go(int x){ analogWrite(BLDC_T, x+70); analogWrite(SPK,x+70); return; }void Stop(bool x){ analogWrite(BLDC_T, 25); analogWrite(SPK,70); return; }