victoriarobotics / victoria_navigation Goto Github PK
View Code? Open in Web Editor NEWThis package contains configuration files for running navigation on Victoria robot
This package contains configuration files for running navigation on Victoria robot
MoveFromCone is coded but needs to be incorporated into the SolveRoboMagellan goal.
Pause goal and synthesized Unpause will allow suspension of strategy for, e.g., moving the bot physically because of GPS drift.
If we are going to have multiple sources of cmd_vel, it would be better to have somebody arbitrating the topics using priorities. cmd_vel_mux seems to offer this capabilities.
Despite @markwomack getting the GPS working last night, this afternoon I was unable to get a fix either with the external antenna nor the onboard patch antenna.
Get it on the robot and test what it does.
Plot a rectangle with GPS coordinates
Loop over rectangle points.
2a. Compute heading and distance to point using GPS and great circle geometry.
2b. If within sigma distance of point, advance to next point.
2c. Else use IMU heading to move towards point.
Record all topics to a bag and analyze performance.
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