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UAlbertaFSAE / f1tenth

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Create Triangulation Algorithm for Waypoint Generation #51

Open jackparsonss opened 8 months ago

jackparsonss commented 8 months ago

This will take in cone data and publish waypoints for pure pursuit

jackparsonss commented 7 months ago

pages 16-21 of https://static1.squarespace.com/static/5e2a78aea2dc434ac475b5a4/t/615ee7754fb3ae56ba011134/1633609600018/Adam+Slomoi+-+Path+Planning+and+Control+in+an+Autonomous+Formula+Student+Vehicle.pdf

Jquinny commented 1 month ago

The main goal of this algorithm is to generate waypoints in the middle of the track using the detected cone data, and feed those waypoints into the already implemented pure pursuit package. We are currently spoofing cone detections by just reading them in from a file, as it should work the same when reading cone data from the perception system nodes. @RyderCatonio has info on how the waypoint generation algorithm works, and on how to work with rviz to visualize information. @jluc6628 feel free to reach out to him for info