Introduction
Controls is one element of our software stack, coming in after Perceptions and Path Planning.
We recommend heading to Overview for a top-down deep dive into how the controller works. You can stop at any level of abstraction you prefer. While we only assume basic programming knowledge, feel free to read more into the software that the controller depends on, namely C++, ROS2 Humble, CUDA, and Thrust. We also provide a cheat sheet of common Terminology.
Have fun and enjoy the ride!
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