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LCAS / topological_navigation

The topological navigation framework
Apache License 2.0
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added test maps #55

Closed marc-hanheide closed 1 year ago

marc-hanheide commented 3 years ago

just added two tmap2 format test maps for various debugging purposes. Loads int map_manager2 just fine.

adambinch commented 3 years ago

Not sure if this matters for this PR as im sure the format of the new map will continue to be updated as new features are implemented but thought i should point it out. The config field for an edge has changed (in https://github.com/LCAS/topological_navigation/pull/54) from 

      config:
        inflation_radius: 0.0
        recovery_behaviours_config: ''
        top_vel: 0.55

to

      config: 
      - namespace: param1_namespace                   
        name: param1_name
        value: param1_value
      - namespace: param2_namespace                 
        name: param2_name
        value: param2_value
      recovery_behaviours_config: ''

such that anything can be reconfigured when the edge is traversed. Recovery behaviours config is now its own thing.

marc-hanheide commented 3 years ago

My main point is that we should have a valid test map in the repo and run a unit test to load it. So, any new PR that changes the map format should then also change the test map accordingly.

marc-hanheide commented 1 year ago

the idea is still strong, the implementation is outdated. Should go into master