Open MoffKalast opened 2 years ago
OK with a* this is where i am now:
robot ran in Gazebo, slam with iris lama, in rviz you set a nav goal, ros navigation global planner calculates path to it using a*, outputs goal and magni follows it using move_basic
Next planned work: recaculate that path every x meters/ y seconds, recalculate goal if obstacle on path
and magni follows it using move_basic
Wait, does move basic actually have path following capabilities?
Nope, goal manager is passing the specific points through actions
Ah ok, so how does it determine which points to send? Something like the farthest one in direct view?
currently path is divided into 0.2m parts, and those points get sent to move basic to reach
Here is an addition of path tracing. Whenever there appears an obstacle on the path, simply resends the end goal and let the astar do the rest:
a couple of observations:
Hmm I wonder if we could instead do this with sort of local map that updates faster. Instead of relying on a slam node, we could instead take the laserscan and treat any detections as obstacles to avoid and the rest as open space. There has been a lot of demand for very fast driving so that should probably be considered here.
Likely not as reliable but should be much faster I would think?
Im not sure that raspberry would be up to the task but we can try. But when we add the local planner then that is basically 80% of move base added haha. Might as well implement the whole damn thing
Teb local planner in action:
Comments:
Plan: @JanezCim tries out a* on real robot
As discussed we'll try to implement two types of path planning:
We can open separate issues for each once we have more of an idea about what's the end goal for each.