Publishers: (visualization)

• Grid pub - occupancy grid
• rrt rviz - rrt node connections
• rrt path rviz - rrt path connections
• goal_pub - rrt goal points
• node_pub - all nodes in rviz
• path_pub - path nodes rviz

Publishers

• grid path pub - rrt path occugrid rviz
• use rrt pub - use rrt
• local goal pub - rrt local goal
• spline points pub - rrt spline points

Subscription

• pose topic - racecar/odom
• scan topic - /scan
• global goal topic - /global goal pure pursuit
• standoff topic - /standoff dist pure pursuit