This nodes publishes the position and velocity of the racecar in frenet coordinates at the topic /car_state/odom_frenet.
The topic is of type nav_msgs/Odometry, and the specific Frenet information is encoded in this way:
- s, or advancemente on the reference line is in
pose.pose.position.x - d, or lateral deviation from the reference line is in
pose.pose.position.y - longitudinal velocity is in
twist.twist.linear.x - lateral velocity is in
twist.twist.linear.y
NOTE: yaw is currently NOT relative to the trajectory