Avoid driving straight into walls

5yler / metatron

Autonomous Power Racing Series Racecar - ROS Metapackage

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Avoid driving straight into walls #26

Open 5yler opened 7 years ago

5yler commented 7 years ago

Currently, the reactive steering algorithm in drive only outputs a nonzero steering angle when there are more obstacles on one side of the car. If the car is driving straight into a wall, it won't stop.

Add some logic to check if it's approaching a flat/even obstacle ahead, then slow down and turn if that's the case.

Tasks

[x] test RPLIDAR-based estop
[ ] implement laser filter with narrower angle for estop
[ ] modify gigabug code to allow estop testing in SEMIAUTOMATIC mode

5yler commented 7 years ago

We have a stop node that is the most primitive form of dealing with this problem. The pipeline has been tested up to integration with Arduino (i.e. estop is correctly triggered with RPLIDAR in the loop, no testing on live car yet)