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tue-robotics-graveyard / robot_smach_states

A library of smach states and state machine using the robot_skills API
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Navigate to symbolic 'near' is not working #60

Closed reinzor closed 7 years ago

reinzor commented 7 years ago

Near area is calculated wrong, could also be a fault in ed_navigation but this has to be checked!

LoyVanBeek commented 7 years ago

In what way is it not working?

reinzor commented 7 years ago

Wrong area is calculated

-Rein

On 9 Nov 2016, at 15:39, Loy notifications@github.com wrote:

In what way is it not working?

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LoyVanBeek commented 7 years ago

Which challenge, designator/entity, what area name?

reinzor commented 7 years ago

see r5cop challenge

-Rein

On Wed, Nov 9, 2016 at 9:47 PM, Loy notifications@github.com wrote:

Which challenge, designator/entity, what area name?

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LoyVanBeek commented 7 years ago

Can also be tested with 

rosrun robot_smach_states simple_navigate.py amigo

If you change the object in https://github.com/tue-robotics/robot_smach_states/blob/master/examples/simple_navigate.py#L45 to 'plant' or 'trashbin' and 'near', the robot goes near them, so that works. It also works when going 'near' the 'nightstand' or 'bar'. It does not work for 'bookcase' or 'cabinet'.

plant and trashbin are simple cylinders and the nightstand and the bar are boxes. bookcase and cabinet are compound shapes, so I think the convex hull of these may be incorrect.

reinzor commented 7 years ago

Nice!

-Rein

On 12 Nov 2016, at 15:56, Loy notifications@github.com wrote:

Closed #60 via tue-robotics/ed_navigation@d0f259d.

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