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QUT-Motorsport / QUTMS_Driverless

Welcome to the QUTMS Driverless team repository, used to develop perception, planning and control pipelines in ROS2 for a driverless FSAE racecar
MIT License
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Ordering planner #261

Closed b1n-ch1kn closed 1 year ago

b1n-ch1kn commented 1 year ago

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

[required] Description

This orderer and spline planner used to live in sim_translators but that pkg is redundant now, so moving it to a dedicate node which will be used not just for sim. Added nav_msgs Path message publishing too

[required] Documentation

Already completed with ordering method was documented

[optional] Usability concerns or breaking changes?

Not from this PR, but identified while working - our custom markers display was removed when we moved to using rviz plugins for cone markers, but this also accidently removed the path line markers. This will be re-added, better than ever, in a new PR but for now, the nav Path message will suffice.

[optional] Screenshots

b1n-ch1kn commented 1 year ago

Making it a dedicated planner is nice.

Does this subscriber need to be updated to use the QUTMSPathStamped message? https://github.com/QUT-Motorsport/QUTMS_Driverless/blob/master/src/common/driverless_common/driverless_common/node_display.py#L45

This is just a rename of the import to reduce confusion (given there were 2 "path" message classes, I specified the custom QUTMS one). Might actually be less confusing if I leave them hey

supex0fan commented 1 year ago

Making it a dedicated planner is nice. Does this subscriber need to be updated to use the QUTMSPathStamped message? https://github.com/QUT-Motorsport/QUTMS_Driverless/blob/master/src/common/driverless_common/driverless_common/node_display.py#L45

This is just a rename of the import to reduce confusion (given there were 2 "path" message classes, I specified the custom QUTMS one). Might actually be less confusing if I leave them hey

I see, my bad. It might be better to add a prefix to the nav message as it is the odd one out, but I'm not fussed either way.