Caffeine Navigates over Ramps - Githubissues

UTRA-ART / SLAM-1920

SLAM and Navigation on ROS Kinetic

https://utra-art.github.io/SLAM/

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Caffeine Navigates over Ramps #89

Open erickmu1 opened 4 years ago

erickmu1 commented 4 years ago

Description:

We want to test how navigation is carried out with a ramp in the middle of its path
A concern for when navigating over ramps is whether or not the ramp will be detected as an obstacle.
Likewise another concern is wether the path planned is guaranteed to remain over the ramp (ie. robot does not go off the edge of the ramp)

Goals:

[ ] Investigate whether Caffeine can navigate over a ramp
- [ ] If not, then find a way to identify/filter ramps from not being detected as obstacles
[ ] Verify that Caffeine does not go off the edge of a ramp
- [ ] If lane detection is in, ensure robot starts and ends b/w lanes even if the ramp has no lanes painted on them

Acceptance Criteria:

[ ] Give a nav goal where the shortest/only path is over the ramp and robot goes over it appropriately

Notes:

Is blocked by the existence of a ramp(s) in the simulated IGVC world (#70)
We can probably "fake" lane detection by actually putting simulated physical walls where the lanes exist