Path planner #14
Path planner #14
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rb_ws/src/buggy/setup.py
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isn't this file required to have in a package?
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Changed package to be C based with python as an add-on, not necessary anymore
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| <node pkg="foxglove_bridge" exec="foxglove_bridge" name="foxglove" namespace="SC"/> | |||
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| <node pkg="buggy" exec="sim_single" name="SC_sim_single" namespace="SC"> | |||
| <node pkg="buggy" exec="engine.py" name="SC_sim_single" namespace="SC"> | |||
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i thought the parameter for the exec node was the name set in setup.py... which was deleted.
is this an alternate framework? its different than how most of the docs ive read are setup, they don't use filenames here.
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We are doing something different, similar to what was in RoboBuggy2, with CMake installation, so yeah minor changes
| <version>2.0.0</version> | ||
| <description>CMU's First Robotic Buggy</description> | ||
| <maintainer email="officers@roboclub.com">CMU's Robotic Club Officers</maintainer> | ||
| <license>MIT</license> |
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why are you endorsing our competitors
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That's just a standard liscence breh
| <buildtool_depend>ament_cmake_python</buildtool_depend> | ||
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| <depend>rclcpp</depend> |
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Required modification to have custom msg imports
rb_ws/src/buggy/resource/buggy
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| def main(args=None): | ||
| rclpy.init(args=args) | ||
| sim = Simulator() | ||
| for _ in range(500): | ||
| time.sleep(0.01) | ||
| sim.publish() |
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It's a delay timer for everything to initialize, including init check, etc.
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Unclear, seemed to be unnecessary test files that were originally auto-generated
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| #Publishers | ||
| self.other_buggy_xtrack_publisher = self.create_publisher(Float64, "self/debug/other_buggy_xtrack", 10) | ||
| self.traj_publisher = self.create_publisher(TrajectoryMsg, "self/cur_traj", 10) |
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do we want to append "/self" to all rostopics pertaining to the buggy's own data? seem unnecessarily verbose to me
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fair, this should just be debug
| self.self_pose_lock = Lock() | ||
| self.other_pose_lock = Lock() | ||
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| def self_pose_callback(self, msg): |
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why do we need to convert the rosposes to poses? we seem to only ever access pose.x and pose.y, which are just as easily accessible from the original buggystate. we also don't use any special pose math functions - why do we convert?
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Fair, I will be reworking this code I guess
| self.get_logger().debug("RECEIVED FROM NAND") | ||
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| def timer_callback(self): | ||
| with self.self_pose_lock and self.other_pose_lock: |
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is this how you do simultaneous locks? should it be with self.self_pose_lock and with self.other_pose_lock, or even just nest them?
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I believe this is fine, as it did compile in sim.
| path_planner.destroy_node() | ||
| rclpy.shutdown() | ||
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| if __name__ == '__main__': |
What type of PR is this? (check all applicable)
Description
Describe the CHANGES, the REASONING, and BENEFITS of this PR.
CHANGES - The path planner was separated from controller, new package structure, etc.
REASONING - Everything was a pain beforehand
BENEFITS - We have a working path planner
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