Now that Navigation with LIDAR is coming to a close, we need to ensure all our packages are structured correctly and work both with Husky and Caffeine (in simulation and reality)
NOTE: Given the open ended-ness of this task, add new Goals (issues to solve) below as they appear
Goals: (add as more issues come to light)
[x] Correct map update rate (observed in Real run)
[x] Create correct transform tree with all our sensors connected
[x] Add necessary package dependencies in package.xml
Acceptance Criteria:
[x] Husky simulation runs Gmapping, Nav Stack, and robot_localization correctly with no outstanding errors/warnings
[x] Caffeine simulation runs Gmapping, Nav Stack, and robot_localization correctly with no outstanding errors/warnings
[x] Caffeine physical robot runs Gmapping, Nav Stack, and robot_localization correctly with no outstanding errors/warnings will be verified by issue #43
[x] Packages are structured in a consistent fashion with a clear modular design
Notes:
This issue is open ended as to what changes need to be made but should account for enabling packages to be swapped with little has and be easy to maintain
Modular design ensures that adding a new "parameter" minimizes the number of files to be changed
Description:
Goals: (add as more issues come to light)
package.xml
Acceptance Criteria:
robot_localization
correctly with no outstanding errors/warningsrobot_localization
correctly with no outstanding errors/warningsCaffeine physical robot runs Gmapping, Nav Stack, andwill be verified by issue #43robot_localization
correctly with no outstanding errors/warningsNotes: