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Autonomous-Motorsports-Purdue / AMP_ASSv2

Reassembled, simpler, without move_base and loop closure issues
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"cone_finder" Package/Node #45

Closed WDobert closed 2 years ago

WDobert commented 2 years ago

What is a quick description of the change?

The obstacle pointcloud published by RTAB-Map is filtered and clustered to locate cone positions. These positions are published on the /cone_finder/cones_found topic. There is also a sub-node responsible for reading this topic and publishing data necessary to observe it in RViz.

Is this fixing an issue?

38

Were any issues created as a result of this change?

No

Are there more details that are relevant?

Further physical testing with actual cones should be carried out in order to verify and tune the functionality of this node. Specifically, the parameters for color filtering and clustering may need adjusting.

Check lists (check x in [ ] of list items)

For each of these items, please refer to the software style guide

Any additional comments?

alanssitis commented 2 years ago

@WDobert It failed to build, check the error messages in "details" for the failed check.

WDobert commented 2 years ago

I don't think the error stems from anything we have control over? Ran the check again, looks fine now. image

WDobert commented 2 years ago

Made a quick fix to the RViz config, should now behave identically to how it was before.

alanssitis commented 2 years ago

Awesome! Great job @WDobert !