API

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In the driver(robucar.py) and its ROS binding(robucar_driver.py), there are three classes.

Class	Description
Monitor	Update and save the odometry information periodically
Robucar	Wrap up the serial protocol, exposes the basic commands
RobucarDriver	A ROS binding of the driver. Periodically takes the odometry and velocity information and outputs it as ROS messages

The architecture of the entire driver/teleop package is shown here: