Create a ros node that generates a path to a waypoint.
We plan to use Isaac Ros Nvblox to generate a 2D slice of the environment in the form of a Euclidean Signed Distance Fields (ESDF). We need a way to generate a safe path to this waypoint in the 2D-plane.
Suggested Workflow
Here is the paper explaining how Nvblox works if you are interested.
Read up on different path planning/generation techniques that are applicable to an ESDF
Specifications
The path should ideally consist of a set of straight lines to be compatible with the auto system.
Contacts
@Andeshog(rider)
@jorgenfj
Code Quality
[ ] Every function in header files are documented (inputs/returns/exceptions)
[ ] The project has automated tests that cover MOST of the functions and branches in functions (pytest/gtest)
[ ] The code is documented on the wiki (provide link)
Description of task
Create a ros node that generates a path to a waypoint. We plan to use Isaac Ros Nvblox to generate a 2D slice of the environment in the form of a Euclidean Signed Distance Fields (ESDF). We need a way to generate a safe path to this waypoint in the 2D-plane.
Suggested Workflow
Specifications
Contacts
@Andeshog(rider) @jorgenfj
Code Quality