Trajectory Generator and Gate Detector - Githubissues

ubc-subbots / triton

ROS2 system for the Triton AUV

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Trajectory Generator and Gate Detector #128

Closed Jared-Chan closed 1 year ago

Jared-Chan commented 1 year ago

New Features

Simple Trajectory Generator that has two modes: START and GATE
- START: AUV turns around continuously (to search for a gate)
- GATE: AUV goes through
Gate Detector
- Added Mark's new features of determining where the gate is
New interfaces
- ObjectOffset: for communicating target object pose and type
- TrajectoryType: for setting trajectory type of the Trajectory Generator

Bug fixes

PID controller
Waypoint Marker
Some Gazebo models

TODO

More optimized trajectories
More accurate gate detection and gate pose estimation