flowchart TD
n1(image_raw_data)
n2(waypoints_RDDF)
n3(Lane Algorithm)
n4(GPS)
n5(Judgement)
n6(Arduino_rosserial)
n7(point_cloud)
n8(Cone+GPS Algorithm)
n9(Hardware)
n10(point_cloud)
n11(Tunnel Algorithm)
n7-->|global_yaw_lidar, dynamic_obstacle|n8
n8-->|auto_steer_angle_cone|n5
n1-->n3
n2-->n4
n10-->n11
n11-->|auto_steer_angle_tunnel|n5
n3-->|auto_steer_angle_lane, lane_detected|n5
n4-->|final_points, global_yaw|n8
n5-->|steering_angle,throttle|n6
n6-->|steering_angle,throttle|n9