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Ekumen-OS / andino_isaac

BSD 3-Clause "New" or "Revised" License
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Separating action graphs by funcitonality #4

Closed JCarosella closed 10 months ago

JCarosella commented 10 months ago

Closes https://github.com/ekumenlabs/andino_isaac/issues/5

This MR divides the action graph into smaller ones. The idea behind this is to make the graphs more granular and avoid having one huge tree that's hard to maintain.

The action graphs created here are:

JCarosella commented 10 months ago

LGTM! As reading the usda isn't a chance, adding a picture here with the current state of the action graph might be good 😄

I just made a modification. I created an action graph for odometry that's in charge of publishing the odometry as well as publishing the transform between andino and odom. With that, the action graphs are like so:

Action graphs ![image](https://github.com/ekumenlabs/andino_isaac/assets/77001289/d63ecee0-6c96-404a-8f73-81253e77042f) ![image](https://github.com/ekumenlabs/andino_isaac/assets/77001289/fb464802-90b9-44b6-843f-990f93fd92b6) ![image](https://github.com/ekumenlabs/andino_isaac/assets/77001289/43d8a159-0f67-4794-978c-33b714affa85) ![image](https://github.com/ekumenlabs/andino_isaac/assets/77001289/da9df042-0e18-458a-876d-a6d028b80858) ![image](https://github.com/ekumenlabs/andino_isaac/assets/77001289/13cf494b-84ee-4f12-92ca-95ddc1eb4b05) ![image](https://github.com/ekumenlabs/andino_isaac/assets/77001289/0e7f86f2-0766-483a-b5ef-19dd157cde77)

The TF tree results in this:

image