Nav/cost map #67
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Nav/cost map #67
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… the current implementation)
…tar exclusively to form paths
…th param max_segment_length
Crypt1cG
reviewed
Jan 26, 2025
config/navigation.yaml
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| distance_between_spirals: 3.0 | ||
| max_segment_length: 1 |
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The parameter max_segment_length is declared as a double in nav.py so setting it to an integer here causes nav to crash
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Summary
Fixed AStar and implemented astar trajectories and heuristic for when to use it into the search state, waypoint state and approach target state.
What features did you add, bugs did you fix, etc?
AStar Path Trajectory Generation, AStar Heuristic, Implementation into states, changed how waypoints are stored and retrieved instead of through the tf tree, added path visualizations and path segmentation for the approach target and waypoint states, added a simulator.yaml creator, modified the costmap dilation
Did you add documentation to the wiki?
No lol
How was this code tested?
Summarize how you tested this code. Your objective here is to prove to the reviewers that this code actually works without them having to run it themselves. It is often helpful to include screenshots, tables, graphs, and/or a short write-up of testing procedures. Results can be either from sim, the robot, or both depending on what you think is sufficient for the feature you added.
Did you test this in sim?
Yes
Did you test this on the rover?
No
Did you add unit tests?
No