<<PackageHeader(turtlebot3_autorace_core)>>
<<TOC(4)>>

''ROS Software Maintainer: [[http://wiki.ros.org/ROBOTIS|ROBOTIS]]''

== ROBOTIS e-Manual ==
 * [[http://turtlebot3.robotis.com/|ROBOTIS e-Manual for TurtleBot3]]

== ROS API ==
{{{
#!clearsilver CS/NodeAPI
node.0 {
name= core_mode_decider

pub{
  0{
   name= core/decided_mode
   type= std_msgs/UInt8
   desc= This topic decide control mode.
  }
}

sub{
  0{
   name= detect/traffic_sign
   type= std_msgs/UInt8
   desc= This topic state of traffic sign detection
  }
  1{
   name= core/returned_mode
   type= std_msgs/UInt8
   desc= This topic is initialize control mode
  }
}
}}}

{{{
#!clearsilver CS/NodeAPI
node.1 {
name= core_node_controller

pub{
  0{
   name= detect/traffic_light_order
   type= std_msgs/UInt8
   desc= Traffic light node trigger
  }
  1{
   name= detect/parking_lot_order
   type= std_msgs/UInt8
   desc= Parking node trigger
  }
  2{
   name= detect/level_crossing_order
   type= std_msgs/UInt8
   desc= Level crossing node trigger
  }   
  3{
   name= detect/tunnel_order
   type= std_msgs/UInt8
   desc= Tunnel node trigger
  }      
  4{
   name= core/returned_mode
   type= std_msgs/UInt8
   desc= Return dicided mode
  }      
}

sub{
  0{
   name= detect/parking_lot_stamped
   type= std_msgs/UInt8
   desc= Progress of parking
  }
  1{
   name= detect/level_crossing_stamped
   type= std_msgs/UInt8
   desc= Progress of level crossing
  }
  2{
   name= detect/tunnel_stamped
   type= std_msgs/UInt8
   desc= Progress of tunnel
  }
}
}
}}}