sagarobotics / topological_navigation Goto Github PK

View Code? Open in Web Editor NEW

This project forked from lcas/topological_navigation

0.0 0.0 3.0 2.16 MB

CMake 3.48% Python 86.46% C++ 10.06%

topological_navigation's People

Contributors

Watchers

Forkers

adambinch mikhut yiannis88

topological_navigation's Issues

Make sure topomap is not empty before setting received to true

Also in subsequent topomap callbacks it might be worth rejecting an empty map

topological_navigation/topological_navigation/scripts/localisation.py

Lines 129 to 134 in 83891b5

 rospy.Subscriber('topological_map_2', String, self.MapCallback) 

 rospy.loginfo("Localisation waiting for the Topological Map...") 

 while not self.rec_map : 

 rospy.sleep(rospy.Duration.from_sec(0.1))

topological_navigation/topological_navigation/scripts/navigation.py

Lines 109 to 115 in 83891b5

 self._map_received = False 

 rospy.Subscriber("/topological_map_2", String, self.MapCallback) 

 rospy.loginfo("Navigation waiting for the Topological Map...") 

 while not self._map_received: 

 rospy.sleep(rospy.Duration.from_sec(0.05)) 

 rospy.loginfo("Navigation received the Topological Map")

Cancel or dont process goal if receiving new tmap

Workflows - add ci.yaml and remove release.yaml

If a goal node doesn't exist in route_search make the error more obvious

Currently shuts down the node with a KeyError due to a missing dictionary key

Fill continue_action field of goal msg if the field exists

continue_action is a std::msgs Bool that should define if the goal following the current goal is of the same type (therefor the action should be continued after the current goal is complete). Automatically should be false if there are no intermediate nodes to the goal.

Possible collisions

Without modelling physical barriers cases like this are possible:

The closest node was a the other side of a tunnel wall, but the planner didn't see that as a problem, so it asked the robot to drive straight through. Not sure if this normally is an issue outside of simple simulations?

sagarobotics / topological_navigation Goto Github PK

topological_navigation's People

Contributors

Watchers

Forkers

topological_navigation's Issues

Make sure topomap is not empty before setting received to true

Cancel or dont process goal if receiving new tmap

Workflows - add ci.yaml and remove release.yaml

If a goal node doesn't exist in route_search make the error more obvious

Fill continue_action field of goal msg if the field exists

Possible collisions

Recommend Projects

React

Vue.js

Typescript

TensorFlow

Django

Laravel

D3

Recommend Topics

javascript

web

server

Machine learning

Visualization

Game

Recommend Org

Facebook

Microsoft

Google

Alibaba

D3

Tencent

	rospy.Subscriber('topological_map_2', String, self.MapCallback)

	rospy.loginfo("Localisation waiting for the Topological Map...")
	while not self.rec_map :
	rospy.sleep(rospy.Duration.from_sec(0.1))

	self._map_received = False
	rospy.Subscriber("/topological_map_2", String, self.MapCallback)
	rospy.loginfo("Navigation waiting for the Topological Map...")

	while not self._map_received:
	rospy.sleep(rospy.Duration.from_sec(0.05))
	rospy.loginfo("Navigation received the Topological Map")