Launch_Command

Launch Commands: 
# launching OSRF world
roslaunch car_demo demo.launch

Not used anymore:
### converts pointcloud to pointcloud2
##roslaunch point_cloud_converter point_cloud_converter.launch ##

### converts pointcloud to laserscan
##rosrun pointcloud_to_laserscan pointcloud_to_laserscan_node cloud_in:=/velodyne_points##

### publishing the static_transform between the custom hybrid_astar frame and base_link frame
##rosrun tf static_transform_publisher -50 -50 0 0 0 0 base_link hybrid_astar 10##

### launching lidar to costmap
##rosrun hybrid_astar converter.py

#Next we need to convert the laserscan to costmap_2D
roslaunch /home/shrey/catkin_ws/src/costmap_2d/launch/example.launch

# launching hybrid astar planner
rosrun hybrid_astar test_ros

# launching tracking method
python /home/shrey/catkin_ws/src/tracking_control/src/scripts/tracking_Methods/pure_pursuit.py

# launching controllers
python /home/shrey/catkin_ws/src/tracking_control/src/scripts/controllers/PID_velocity_controller.py

# publishing velocity 
rosrun hybrid_astar velocity_publisher

rostopic pub -1 /cmd_vel geometry_msgs/Twist -- '[2.0, 0.0, 0.0]' '[0.0, 0.0, 0.0]'