Even though we are starting with a "static" (i.e., unchanging) mission plan, this could change when we introduce dynamic obstacle avoidance.
In order to make the planner a little bit more extensible, I think we should have planner as a ROS service. Clients can request a new plan and have one computed.
Managing state might be a little bit difficult. I think gnc will probably end up being the node that manages the state on the ground.
Goal for this issue:
Make a new service, called planner, that will use the RRT sheet planner to compute waypoint plans
Define messages for trading plans between ROS nodes
planner will be launched with the set of static obstacles that define the mission, so the expensive sheet optimization is only done once on launch.
How do we compute mission plans?
Even though we are starting with a "static" (i.e., unchanging) mission plan, this could change when we introduce dynamic obstacle avoidance.
In order to make the planner a little bit more extensible, I think we should have
planneras a ROS service. Clients can request a newplanand have one computed.Managing state might be a little bit difficult. I think
gncwill probably end up being the node that manages the state on the ground.Goal for this issue:
planner,that will use the RRT sheet planner to compute waypoint plansplannerwill be launched with the set of static obstacles that define the mission, so the expensive sheet optimization is only done once on launch.