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
It is the main interface point between the
agiliblibrary and the
agirosROS 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.