Add Route Augmentation (Live Debugging) - Githubissues

ll7 / paf21-1

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Add Route Augmentation (Live Debugging) #124

Closed Bonifatius94 closed 2 years ago

Bonifatius94 commented 2 years ago

Issue:

it's hard to figure out where the planned waypoints are located
therefore, visually augmenting the live view with the planned route might help a lot when debugging

Tasks:

figure out how to augment RVIZ / CARLA
- solution: add Path display to RVIZ and publish the waypoints as nav_msgs.Path via ROS

Goals:

enhanced live-debugging: see whether the car is driving according to the planned route
- allow for stabilizing the very fragile route interpolation logic
- allow the steering team to figure out how well the steering controller keeps the car on track