Wayfinding optimization #1101
Merged
Wayfinding optimization #1101
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
cbrxyz
requested changes
Oct 26, 2023
There was a problem hiding this comment.
Thanks, great job! I tested it and it works great. Please just remember to remove your comments, and run your code through pre-commit to ensure it has a consistent style: https://uf-mil.github.io/docs/software/devtools.html#pre-commit
|
Once this is merged in, we can close Task 2 for VRX. |
|
Hola, your friendly InvestiGator bot here with another message! Because this PR was closed/merged, I'm going to remove the docs preview for now. Have a great day! Go gators! 🐊 |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Description
I optimized the wayfinding task accuracy by 50%. I did not change the logic of the code drastically, I simply split the steps taken by the Navigator to get to the waypoint. The 0.85 - 0.15 split means that 85% of the lengths in the x and y directions covered, the Navigator comes to a stop, and then I tell it to finish the final 15% of the path, giving it a chance to readjust
Screenshot or Video
Related Issues
Closes #1078
- Closes #XXX
Testing
Open two terminal windows ->
window 1: roslaunch navigator_launch vrx.launch run_task:=False world:=wayfinding_task --screen
window 2: mission run Vrx
About This PR
The documentation is up to date.