Mehulg/paralellism - Githubissues

mehulgoel873 commented 4 months ago

What type of PR is this? (check all applicable)

[ ] Refactor
[x] Feature
[ ] Bug Fix
[ ] Optimization
[x] Documentation Update

Description

CHANGE: Introduced multi-threading to autonsystem, path planner and local controller on separate threads now. REASON: Currently the performance of the local controller was hovering at around 50 Hz because it had to wait on the path planner. Now, with both being intertwined, the local controller is able to run faster. BENEFITS: The controller now runs without stops and is running at around 100Hz

Related Tickets & Documents

Related Issue #
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QA Instructions, Screenshots, Recordings

I ran the simulation with buggy_launch for single and two buggies, and the buggy seemed to be working as normal.

Added/updated tests?

We encourage you to keep the code coverage percentage at 80% and above.

[ ] Yes
[ ] No, and this is why: please replace this line with details on why tests have not been included
[ ] I need help with writing tests

[optional] Are there any post deployment tasks we need to perform?

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Jackack commented 4 months ago

Also, can you add testing instructions for 2 buggy sim as well as single buggy sim.