search

Pitt-RAS / iarc7_motion

Motion Planning and Control code for generic multirotor, developed for IARC Mission 7
Other
2 stars 3 forks source link

Go to roomba #123

Closed Quinnan-Gill closed 6 years ago

Quinnan-Gill commented 6 years ago

This is a new file in order that uses the translate stop planner to move to a roomba making it them easier to use track roomba

asaba96 commented 6 years ago

(Making a comment) I am curious as to the reasoning behind using transforms for everything when we can get the roombas map positions from the roomba odometry. The same can be said for the drone’s current height. Finally, if we had an ending radius specified by the task request (which we probably will want anyway) and provided that to the translate stop planner, we won’t need to find how far away the roomba is from the drone, since the translate stop planner will be doing this check already.

asaba96 commented 6 years ago

Also forgot to say, this needs rebased

Quinnan-Gill commented 6 years ago

Also, you were write in not needing all those transforms. I all of the ones that I thought were not needed.

asaba96 commented 6 years ago

This needs rebased. Additionally, I think it would be nice for the task request to specify an ending radius to the roomba. This would mean that the translate stop planner would accept a customizable radius instead of loading it in as a parameter. @amiller27 any thoughts on this functionality?

asaba96 commented 6 years ago

Specifically I’m referring to this in the translate stop planner: https://github.com/Pitt-RAS/iarc7_motion/blob/master/src/iarc7_motion/iarc_tasks/task_utilities/translate_stop_planner.py#L27

amiller27 commented 6 years ago

That functionality is out of scope for this PR.

asaba96 commented 6 years ago

@Quinnan-Gill I rebased this and added in the ending radius functionality that I needed for my work in iarc7_abstract. @amiller27 @aftersomemath this should be good for final review.