mtlb

matlab/PioneerWaypointNode.m

-classdef PioneerWaypointNode
+classdef PioneerWaypointNode < handle
    properties
-       distThreshold=1;
+       % ROS communication properties
+       twist_cmd  % Twist command to be published
+       twist_pub  % Twist publisher
+       
+       % Counters
+       odomN
+       geonavN
+       statusN
+       
+       % Robot State
+       x
+       y
+       yaw
+       
+       % Waypoint control properties
+       waypoint_list
+       dist_threshold
    end
    methods
       % Constructor method
       function obj = PioneerNode()
-           
+          
+          % Setup publishers 
+          twist_pub = publisher(
+      
       end
       % ROS callback methods
       function odom_callback(src,msg)