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umigv / goat

Codebase for the GOAT
BSD 3-Clause "New" or "Revised" License
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Testing path to motor comands to determine Controls work needed in 2019-20 #458

Closed oliversno closed 5 years ago

oliversno commented 5 years ago

Background

Path to motor commands receives the current robot position from Sensors (as a Pose) and a path (as a vector of Points) from A*. It calculates motor commands to move to the path points and publishes a Twist on the "cmd_vel" topic for the motors to make those movements.

Problem

This code needs to be tested to determine a project timeline for Controls. A test path vector will need to be made because A* is not functional.

Definition of Done

This ticket can be closed when motor_cmds.cpp is tested on the robot and a report can be made as to how well the code works. Also, when, if needed, this code should be fixed in relation to A* implementation.

oliversno commented 5 years ago

Feel free to get started on debugging/fixing if you have time and want to, just make a new ticket and then immediatly move it into In Progress.