Pathy

Pathy, the ROS package that runs padnet, consists of 7 nodes:

Fig. 16 Nodes in the Pathy package

Nodes

• Camstream: Webcam video capture

• Padnet: Semantic segmentation CNN

• Steering: Steering from path mask

• DMS: Dead man’s switch

• Mav: Mavlink proxy and injection

• GCS WebUI WebSockets server: WebSockets server for the WebUI

Running

During development and testing we manually started all nodes using:

ros2 run pathy <name-of-node>

In Byobu, a terminal multiplexer, this looks something like this:

Fig. 17 Running pathy nodes in development

This would probably be a bit of a hassle in production. ROS 2 of course has a more elegant way of launching nodes . This is a possible improvement.

Parameters

Currently, all node arguments are hardcoded. This isn’t great. ROS 2 again has more elegant way of handling this (e.g. using parameter files ). This is a possible improvement.