The Pilot

The pilot is an agilib module implemented by the file agilib/src/pilot/pilot.cpp. It serves two main purposes:

• It is the entry point of the program, and therefore it is in charge of coordinating and orquestrating when and how to instantiate and run the pipeline module(s).

• It is the main interface point between the agilib library and the agiros ROS interface. For example, it takes care of handling the commands that come from ROS and converting them into actual actions that are then processed by the running sampler/estimator/controller.