Updated documentation and improved upon acting debugging.

[vinzenzm]

Added a new acting_debug launch file which launches only the necessary components for debugging. Updated the documentation for how to use the debugging node. Fixed a visual bug in the debug node where the trajectory was visualized wrongly.

Description

Please include a summary of the change and which issue is fixed. Please also include relevant motivation and context. List any dependencies that are required for this change.

Fixes # (issue)

Type of change

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• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• Breaking change (fix or feature that would cause existing functionality to not work as expected)
• This change requires a documentation update

Does this PR introduce a breaking change?

e.g. is old functionality not usable anymore

Most important changes

Which files functionalities are most important in this PR. On which part should the reviewer be focussed on?

Checklist:

• [x] My code follows the style guidelines of this project
• [x] I have performed a self-review of my own code
• [x] I have commented my code, particularly in hard-to-understand areas
• [x] I have made corresponding changes to the documentation
• [x] My changes generate no new warnings
• [x] I have added tests that prove my fix is effective or that my feature works (might be obsolete with CI later on)
• [x] New and existing unit tests pass locally with my changes (might be obsolete with CI later on)

Summary by CodeRabbit

• New Features

  • Introduced a new launch file (acting_debug.launch) for easier startup of acting and debugging components.
  • Enhanced the Acting_Debug_Node for improved handling and visualization of agent positions.

• Documentation

  • Updated acting_testing.md with clearer instructions for testing and tuning acting components, including new setup guides and operational details for the Acting_Debug_Node.

[coderabbitai[bot]]

Walkthrough

This pull request introduces a new launch file, acting_debug.launch, which facilitates the initiation of acting functionalities alongside a debug node in a robotics framework. It defines several parameters and incorporates nodes from both the acting and perception packages. Additionally, modifications are made to the Acting_Debug_Node class to enhance position tracking and visualization. The documentation for testing acting components is also updated to provide clearer instructions and details about the new launch file and testing procedures.

Changes

File	Change Summary
code/acting/launch/acting_debug.launch	New launch file added to initialize acting and debug nodes with parameters.
code/acting/src/acting/Acting_Debug_Node.py	Added instance variables for position tracking; updated trajectory z-coordinate handling.
doc/acting/acting_testing.md	Updated documentation for testing procedures, including details on acting_debug.launch.

Possibly related PRs

• 401: This PR discusses the communication dynamics between planning and acting components, which is relevant to the Acting_Debug_Node and its integration within the robotics framework as outlined in the main PR.

Suggested labels

planning

Suggested reviewers

• johannaschwarz

Poem

🐰 In the land of code where rabbits play,
A launch file hops in to light the way.
With nodes a-buzz and positions in sight,
Debugging our acting, oh what a delight!
So gather 'round, let the testing commence,
For every small change makes perfect sense! 🌟

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[Johannes1098]

Checklist isn't fulfilled yet.