From 574f87125d06f12c92539bd3ab79b0ebd11ef65b Mon Sep 17 00:00:00 2001 From: Small Laptop Date: Wed, 3 Aug 2022 14:35:14 -0400 Subject: [PATCH] small fixes --- cart_endpoints/scripts/motor_endpoint.py | 2 +- cart_planning/data/home_loopV3_raw.gml | 5968 ++++++++++++++++++++++ cart_planning/launch/constants.launch | 2 +- cart_simulator/scripts/path_creation.py | 3 +- 4 files changed, 5972 insertions(+), 3 deletions(-) create mode 100644 cart_planning/data/home_loopV3_raw.gml diff --git a/cart_endpoints/scripts/motor_endpoint.py b/cart_endpoints/scripts/motor_endpoint.py index c0ac765..808fcb0 100755 --- a/cart_endpoints/scripts/motor_endpoint.py +++ b/cart_endpoints/scripts/motor_endpoint.py @@ -236,7 +236,7 @@ def endpoint_calc(self): def pack_send(self, throttle, brake, steer_angle): data = bytearray(b'\x00' * 5) bitstruct.pack_into('u8u8u8u8u8', data, 0, 42, 21, abs(throttle), brake, steer_angle + 10) - self.speed_ser.write(data) + self.arduino_ser.write(data) if __name__ == 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2.1123019385586206 + ] + edge [ + source 485 + target 332 + weight 2.057518438112189 + ] + edge [ + source 486 + target 485 + weight 2.0974754776260403 + ] + edge [ + source 487 + target 93 + weight 2.095374593504918 + ] + edge [ + source 488 + target 457 + weight 2.0382858439772704 + ] + edge [ + source 489 + target 487 + weight 2.095374593504904 + ] +] diff --git a/cart_planning/launch/constants.launch b/cart_planning/launch/constants.launch index 06f7cc0..c7c8318 100755 --- a/cart_planning/launch/constants.launch +++ b/cart_planning/launch/constants.launch @@ -1,7 +1,7 @@ - + $(arg graph_file) diff --git a/cart_simulator/scripts/path_creation.py b/cart_simulator/scripts/path_creation.py index d62a896..dc33a1f 100755 --- a/cart_simulator/scripts/path_creation.py +++ b/cart_simulator/scripts/path_creation.py @@ -45,6 +45,7 @@ def __init__(self): # Keep track of global stae of graph(e.g. most recently placed node) self.global_graph = nx.DiGraph() self.last_node = None + self.last_node_right = None self.prev_node = None self.selected_node = None self.node_count = 0 @@ -125,7 +126,7 @@ def add_point(self, x, y): #Connect previous node to current node - if self.node_count > 0 and self.auto_connect is True: + if self.node_count > 0 and self.auto_connect is True and self.last_node_right is not None: self.add_weighted_edge(self.last_node_right, node_name_r) # Create cycle between last and current node if this road is a one lane two way if self.road_type == "undirected":