uwreact / uwreact_robot

Software behind our fully autonomous FIRST robots

BSD 3-Clause "New" or "Revised" License

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Read/load map of field from world file #27

Open wraftus opened 5 years ago

wraftus commented 5 years ago

🚀 Feature Request

Since we already know everything about the field, we don't need to map it during the match, we can just store a field CAD (or something similar) on the Jetson and load it at the beginning of the match.

matthew-reynolds commented 5 years ago

Keep @uwreact/controls in the loop with this - Perhaps we can leverage some parsing used in Gazebo or something. Not sure, but seems related.

matthew-reynolds commented 5 years ago

We probably will want to convert .world files into occupancy maps. It looks like there are some resources out there on using Gazebo plugins to do this, so we should look into this and this, but going through Gazebo is not a long-term solution since we obviously need a map when on real HW as well as simulation. Perhaps these can give some insight on converting .world files to occupancy maps though.