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nobleo / path_tracking_pid

Path Tracking PID offers a tuneable PID control loop, decouling steering and forward velocity
Apache License 2.0
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Refactor collision visualization functions #118

Closed Rayman closed 2 years ago

Rayman commented 2 years ago

I did an alternative refactor to #107.

lewie-donckers commented 2 years ago

I did an alternative refactor to #107.

  • I've split the main function up in several small functions
  • I've moved ros::Time::now() calls away from the visualization class
  • I've used tf2 datatypes if possible
  • I've published everything on a single visualization topic

I like all of those changes over my refactoring. I didn't know we could publish them on the same publisher or publish them one by one. But this is more in-line with the existing implementation. I focused on non-functional changes only.