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LCAS / topological_navigation

The topological navigation framework
Apache License 2.0
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Added ros param 'simulation_mode' to 'navigation.py' to allow abstracted navigation between nodes in simulation #159

Closed laurencejbelliott closed 1 year ago

laurencejbelliott commented 1 year ago

I have added a ros param, 'simulation_mode', in navigation.py that disables move_base reconfigure functions if set to True, with the default value set to False. This allows topological navigation to work with my ROS package move_base_abstract, which is a drop-in replacement for move_base for abstracted navigation for faster simulation. If 'simulation_mode' is set to True, and move_base_abstract's actionserver is running, a robot will "teleport", by its pose being set in Gazebo, to its goal pose, from its current pose, after a rospy.sleep time delay equal to a constant average robot speed (m/s) * distance (m).

laurencejbelliott commented 1 year ago

Changes requested by @Iranaphor via Teams messages have been made.