search

ros-geographic-info / open_street_map

Experimental packages for ROS access to Open Street Map information
http://ros.org/wiki/open_street_map
80 stars 52 forks source link

Possibility to compute paths between GeoPoints. #10

Closed dieg0- closed 6 years ago

dieg0- commented 6 years ago

As discussed in PR #1 , this PR addresses all the corresponding changes and solves the conflicts.

Basically, one can request a path between two GeoPoints that are not part of the graph, but lie nearby. This is of particular importance when working with a robot whose GPS position naturally does not perfectly match one of the nodes in the graph. The closest segment to the requested points in calculated and the path planning is executed.

We have included a launch file to test the planning by selecting start and goal positions in RVIZ.

If this PR is accepted, then PR #1 can be ignored and closed @bmagyar @jack-oquin. IMPORTANT: For this service to work, the PR #21 in geographic_info must be previously accepted. Bests.

bmagyar commented 6 years ago

I'll move your comment on the review here so it won't disappear:

Unfortunately right now we don't have anything that could be use for unit testing, we just test by actually executing the planner as a whole. I guess having a very small graph, so that it is actually easy to keep track of nodes and segments, would be ideal to write and run unit tests on the separate functions. But we don't have such a thing at the moment.