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strands-project / strands_navigation

Higher-level navigation capabilities
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Localise by topic makes the robot think it is at the wrong waypoint #298

Closed Jailander closed 8 years ago

Jailander commented 8 years ago

We had this issue at the deployment: "the robot detected that it was charging although it was at WayPoint15, this meant that topological localisation changed current_node to ChargingStation and the battery was too low so the robot's tasks were being set at the ChargingStation which is where it "was" so the robot didn't move, this was fixed by pushing the robot."

Must be Fixed!!!

cdondrup commented 8 years ago

I remember we had that last year as well. Is there maybe a way of combining localise by topic and by pose? Only if both are correct it localised at that point. This would also help me for the walking group resting areas.

Jailander commented 8 years ago

Yes it was exactly the same issue I'll put a fix in by tomorrow I know I had something almost ready sonewhere

cdondrup commented 8 years ago

If my suggestion would also be possible, I'd be grateful ;)

Jailander commented 8 years ago

Yes, I think that was one option that was configurable I'll make it possible anyway

Jailander commented 8 years ago

This was already fixed last year see: https://github.com/strands-project/strands_navigation/tree/indigo-devel/topological_navigation#using-localise-by-topic

Jailander commented 8 years ago

I will close as this is not an issue in the system anymore and its improvement is a duplicate of #249