The designed system requires a high-level "planner" (e.g., A*) to determine the trajectories that should be executed by the AUVMS. At the moment, planning is not required and should instead be implemented as a pre-defined sequence of waypoints/setpoints to be tracked by the system.
Feature Description
Implement an angler_planning ROS 2 package with a ROS 2 node responsible for reading pre-defined "plans" from a configuration file. The plans should be converted into a sequence of ROS 2 messages and made available using an action server. The action server should be implemented to support future planning efforts which may be more computationally expensive.
Alternative Solutions
This could instead be implemented using a service; however, planning may take a significant amount of time, depending on the planning interface used. This motivates the integration of an action server instead.
Feature Type
Adding new functionality to Angler
Problem Description
The designed system requires a high-level "planner" (e.g., A*) to determine the trajectories that should be executed by the AUVMS. At the moment, planning is not required and should instead be implemented as a pre-defined sequence of waypoints/setpoints to be tracked by the system.
Feature Description
Implement an
angler_planningROS 2 package with a ROS 2 node responsible for reading pre-defined "plans" from a configuration file. The plans should be converted into a sequence of ROS 2 messages and made available using an action server. The action server should be implemented to support future planning efforts which may be more computationally expensive.Alternative Solutions
This could instead be implemented using a service; however, planning may take a significant amount of time, depending on the planning interface used. This motivates the integration of an action server instead.
Additional Context
No response