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RoboJackets / urc-software

Primary codebase for the RoboNav team's URC rover.
https://robojackets.org/teams/robonav/
MIT License
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[cleanup] Move `mapping` into `urc_perception` and remove unused code in `urc_perception` #198

Closed yambati03 closed 2 weeks ago

yambati03 commented 3 months ago

Description

This PR deletes some unused code in the urc_perception package and moves the mapping code into this package.

Expectation: Mapping + re-planning still works as expected in simulation.

This screenshot was taken after launching bringup_simulation.launch.py with the bt_test.xml behavior tree on this branch. This shows that mapping and re-planning still works as expected. image

Self Checklist

yambati03 commented 1 month ago

This PR is getting too large, so decided to break it up into multiple smaller PRs to make validation easier. Closing.

davidcalderon03 commented 3 weeks ago

Has the current A* implementation been tested with these changes? We can move forward with this PR as it is, and subsequent PRs can clean up other parts of the codebase.

davidcalderon03 commented 2 weeks ago

Also tested on the rover and everything still works. LGTM.