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open-navigation / opennav_coverage

Nav2 Compatible Complete Cover Task Server, Navigator, & BT Utils
Apache License 2.0
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Changing Controller FollowPath Plugin doesn't work #48

Closed Nishanth-CNCPMC closed 3 months ago

Nishanth-CNCPMC commented 6 months ago

@SteveMacenski Firstly, this is a wonderful package and collaboration. Thank you for that. I tried changing the plugin of followpath to DWB and executed with the same demo polygon path. It seems to follow for quite a bit and it starts to make a circle at some point. I want to implement a DWB Controller as I need the robot to change its path if It scans an obstacle in the selected polygon. Please look through this issue. I just changed the plugin and did no other change.

Once we make it work, I have a huge robot I am working on currently. We could release the working video. After this, my goal is to implement the same with the controller changed in turtlebot house where I select the polygon using the point stamped tool that publishes /clicked_point and the coverage server can plan a path in the selected polygon leaving it to the controller server (i.e the local planner) to dynamically change it and finish the survey. I have finished selecting the polygon method and successfully implemented it but only with the RPP plugin not with DWB.

I feel it has something to do with the params, but even after tweaking some parameters from it doesn't make the robot to take a tight 180 degree turn. I noticed that it takes 90 turns.

https://github.com/open-navigation/opennav_coverage/assets/157937746/7ae61ee6-7761-42dd-8cbb-d4ecdea407cf

Nishanth-CNCPMC commented 6 months ago

Here is the zip file of the package...I just ran the coverage_demo_launch.py file. I changed the plugin in the params file. opennav_coverage.zip

Nishanth-CNCPMC commented 6 months ago

https://github.com/open-navigation/opennav_coverage/assets/157937746/78ec792d-8fbd-4bca-80c2-37a6c958b195

This is the turtlebot trial I was talking about. This is done with DWB.

SteveMacenski commented 3 months ago

The demo is just that: a demo to show it working in a practical setting, updates from there on are not issues for this project