Open HALtheWise opened 7 years ago
I think the best way to store the location of stuff on the course is with ROS's tf (transform) system. We can define a coordinate frame attached to each challenge object, then just give navigation commands relative to the course objects. For example, the dock for the Docking task could have a tf frame stuck to it, and that makes maneuvering to it a simple matter of targeting a point defined in that coordinate system.
A typical run would look like:
What do people think?
I've started writing up some more details in the wiki, feedback appreciated.
The vehicle should be using its laser and (if necessary) camera to improve its estimate of the locations of navigation buoys and both docks.