Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Tharp/adding_global_planning_functionality #100

Closed
wants to merge 47 commits into from
Closed
Changes from 1 commit
Commits
Show all changes
47 commits
Select commit Hold shift + click to select a range
765ebd7
changing global planning docs and cleaning up random walk planner
tharp789 Sep 17, 2024
8c680be
adding testing docs
tharp789 Sep 18, 2024
717b641
changing global planning docs and cleaning up random walk planner
tharp789 Sep 17, 2024
98f81d0
adding testing docs
tharp789 Sep 18, 2024
c3de1aa
Merge branch 'tharp/rand_walk_cleanup' of https://github.com/castacks…
tharp789 Sep 18, 2024
1f72df9
refactoring code for new interface
tharp789 Sep 18, 2024
7e3b32b
adding conversions for new message types
tharp789 Sep 18, 2024
2c63df8
fixing build issues for new interfaces
tharp789 Sep 18, 2024
91e4b8d
chaning logic to take the max voxzel size instead of assuming uniform
tharp789 Sep 18, 2024
8b84e5a
cleaning up distance calculations
tharp789 Sep 18, 2024
3947fdb
making build changes for curr_location
tharp789 Sep 18, 2024
31512b4
more build fixes
tharp789 Sep 18, 2024
85a36ce
more and more build fixes
tharp789 Sep 18, 2024
a52f822
more and more build fixes
tharp789 Sep 18, 2024
d2f5d97
asdf
tharp789 Sep 18, 2024
b9ac384
a;alala
tharp789 Sep 18, 2024
01bd1c0
asdfallsdlfkn
tharp789 Sep 18, 2024
57eaa10
fixed build
tharp789 Sep 18, 2024
aba33a5
Do proper docker containers now with variable number of robots (#40)
andrewjong Sep 18, 2024
458e7b1
Aj/update docs (#45)
andrewjong Sep 19, 2024
ace15f7
Add footer (#46)
andrewjong Sep 19, 2024
e1293c9
Add more docs
andrewjong Sep 19, 2024
0afc4df
welcome page, boilerplate (#47)
andrewjong Sep 19, 2024
0cadc73
changing global planning docs and cleaning up random walk planner
tharp789 Sep 17, 2024
543e761
adding some more documentation
tharp789 Sep 22, 2024
de82155
adding service call
tharp789 Sep 22, 2024
67ecb47
finishing clean up of old map callback
tharp789 Sep 23, 2024
e69a946
deleting irrelevant testing doc
tharp789 Sep 23, 2024
e8a3044
Merge remote-tracking branch 'origin/main' into tharp/rand_walk_cleanup
tharp789 Sep 23, 2024
b6d532f
Merge remote-tracking branch 'origin/main' into tharp/rand_walk_cleanup
tharp789 Sep 25, 2024
6f58a9a
Merge remote-tracking branch 'origin/main' into tharp/rand_walk_cleanup
tharp789 Oct 1, 2024
528dbad
removing trivial_planner package for random walk and add xml launch file
tharp789 Oct 1, 2024
4219588
Merge remote-tracking branch 'origin/main' into tharp/rand_walk_cleanup
tharp789 Oct 2, 2024
019d228
Merge remote-tracking branch 'origin/main' into tharp/rand_walk_cleanup
tharp789 Oct 2, 2024
44a8b1f
removing airstack_msgs dependency
tharp789 Oct 2, 2024
0790c38
adding plan reception mode to behaviro tree
tharp789 Oct 3, 2024
1bbb5ef
buildable chanes
tharp789 Oct 8, 2024
1b68714
merging from main
tharp789 Oct 8, 2024
83cbd17
working action based random walk
tharp789 Oct 8, 2024
58c2b9c
working global plan toggle
tharp789 Oct 9, 2024
5e05a7d
fixing read_parameter formatting
tharp789 Oct 9, 2024
81ba81b
adding ensemble planner
tharp789 Oct 9, 2024
0fac73e
first test of the new global planner format with random walk publishi…
tharp789 Oct 10, 2024
0720d8c
adding rad2deg and logging in random walk logic
tharp789 Oct 10, 2024
8d8dda0
Merge remote-tracking branch 'origin/main' into tharp/rand_walk_cleanup
tharp789 Oct 10, 2024
4167a2a
working random walk
tharp789 Oct 10, 2024
d718425
cleaning up junk
tharp789 Oct 10, 2024
File filter

Filter by extension

Filter by extension

Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
Prev Previous commit
Next Next commit
adding some more documentation
tharp789 committed Sep 22, 2024
commit 543e761da3f56deb7608e2f3c02376ffe2aff404
74 changes: 0 additions & 74 deletions docs/developer_guide/autonomy/global_planning.md

This file was deleted.

File renamed without changes.
3 changes: 3 additions & 0 deletions docs/robot/autonomy/4_global/planning.md
Original file line number Diff line number Diff line change
@@ -14,6 +14,8 @@ However, avoiding fine obstacles is delegated to the local planner that operates
For the structure of the package, the global planner node should not include any logic to generate the path. This should be located in a seperate logic class and be seperated from ROS. This will allow more modularity in the future for testing and easy interface changes.

## ROS Interfaces
=======
For the structure of the package, the global planner node should not include any logic to generate the path. This should be located in a seperate logic class and be seperated from ROS. This will allow more modularity in the future for testing and easy interface changes.

### Actions Interface
The global planner should provide an action server for the topic `$(arg robot_name)/global_planner/plan` of message type `nav_msgs/GetPlan`. This should be triggered from the base station and should trigger a path generation based off a fed goal position and optionally a tolerance to the final goal, otherwise a default tolerance will be used. This will then trigger the global planner to generate a path and publish it to the gloabal trajectory topic.
@@ -80,3 +82,4 @@ The global planner can do whatever it wants internally.
### Random Walk planner

The random walk planner replans when the robot is getting close to the goal. The random walk planner is a trivial planner that generates a plan by randomly selecting a direction to move in. The random walk planner is useful for testing the robot's ability to follow a plan.

You are viewing a condensed version of this merge commit. You can view the full changes here.