Separate track made good and heading - Githubissues

UBCSailbot / raye-local-pathfinding

UBC Sailbot's Local Pathfinding Repository: OMPL-based pathfinding that avoids upwind/downwind sailing, minimizes turning, and minimizes path length.

https://www.ubcsailbot.org/

MIT License

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Separate track made good and heading #272

Open patrick-5546 opened 2 years ago

patrick-5546 commented 2 years ago

Resolves #267

patrick-5546 commented 2 years ago

I noticed that the boat often sails up current in this run:

roslaunch local_pathfinding all.launch speedup:=100 ocean_current_speed:=5

Is this to be expected? Does our pathfinding cost function take into account ocean current?

patrick-5546 commented 2 years ago

Todo

[x] Add a field for track made good in the GPS msg: https://github.com/UBCSailbot/sailbot-msg/commit/6b8b0494b2d0ba1a72d566cfd517bdc27529acb5
[x] Publish track made good in ros_interface.py

tylerlum commented 2 years ago

Future PR: Consider AIS boats' track_made_good vs heading (which one to use?)

patrick-5546 commented 2 years ago

Once this is merged in to master, the other CI tests should pass

patrick-5546 commented 2 years ago

Future PR: Consider AIS boats' track_made_good vs heading (which one to use?)

Related issue: #265