Plugin for detecting collisions with obstacles - Githubissues

osrf / vrx

Virtual RobotX (VRX) resources.

Apache License 2.0

433 stars 194 forks source link

Plugin for detecting collisions with obstacles #49

Closed osrf-migration closed 5 years ago

osrf-migration commented 6 years ago

Original report (archived issue) by Brian Bingham (Bitbucket: brian_bingham).

For scoring purposes will want to get notifications of WAM-V collisions with obstacles. Plugin should include logic so that only one event is recorded per incident.

osrf-migration commented 5 years ago

Original comment by Brian Bingham (Bitbucket: brian_bingham).

Perhaps the only task that will use this is the Navigation Channel?

osrf-migration commented 5 years ago

Original comment by Carlos Agüero (Bitbucket: caguero, GitHub: caguero).

changed milestone from "0.4" to "1.1"

osrf-migration commented 5 years ago

Original comment by Youssef Khaky (Bitbucket: ykhky).

Hi Brian and Carlos,

Should the notifications be in the form of a ROS message sent over a topic or is there a better way?

Regarding the plugin, is using a pre-existing plugin such as "gazebo_ros_bumper" a good idea? I think writing a new custom plugin is probably a better idea because it would make the collision logic and the collision detection be in the same file.

osrf-migration commented 5 years ago

Original comment by Carlos Agüero (Bitbucket: caguero, GitHub: caguero).

We have a base scoring plugin named scoring_plugin.hh that captures some of the common tasks that every other scoring plugin needs (time, task state, score). navigation_scoring_plugin.hh is one example of a concrete scoring plugin that scores the navigation task and makes use of some of the common functionality implemented in scoring_plugin. I recommend to take a look at the base scoring plugin and inside some of the other scoring plugins already created.

After that, one potential place to implement the collision detection is in the base scoring plugin. Potentially, if we do it this way, this information will be available "for free" in any other scoring plugin that inherits from the base scoring plugin.

So, as a summary, I'd try to implement the collision detection inside scoring_plugin.

osrf-migration commented 5 years ago

Original comment by Carlos Agüero (Bitbucket: caguero, GitHub: caguero).

set component to "Plugin"

For scoring purposes will want to get notifications of WAM-V collisions with obstacles. Plugin should include logic so that only one event is recorded per incident.

osrf-migration commented 5 years ago

Original comment by Youssef Khaky (Bitbucket: ykhky).

set assignee_account_id to "5c965b5f742be32d893e3c3e"
set assignee to "ykhky (Bitbucket: ykhky)"

For scoring purposes will want to get notifications of WAM-V collisions with obstacles. Plugin should include logic so that only one event is recorded per incident.

osrf-migration commented 5 years ago

Original comment by Carlos Agüero (Bitbucket: caguero, GitHub: caguero).

changed state from "new" to "resolved"

See pull request #94.