Feat/feelers #6
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Feat/feelers #6
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copied pasted some stuff from the feelers branch of last year's code
…ong the c++ versions are
…g code from th image callback to a dedicated publishing function
…a bunch fo compile errors
…obably doing the global transformation wrong at this point but can't test
setup script stuff
Feat/manual
…emove unecessary files
Add ROS-TCP-Endpoint so we can have scrabby support
no actual transformations or good combining, but it works at least now
just gotta do blur and flattening and disinterest and all that
…we took using the real vision pipeline in the simulator to test feelers out
…uch more consistent, but still not working right
Now, all callbacks calculate their own contribution, call calculateOutputs() which sums all of them up, and then publishOutputMessages() reads from that. Also, all draw() calls moved to onDebugImageReceived() so no more chance of drawing on a nullptr
haven't tested it with scrabby yet but this is a known working commit before I remove all of the debug log statements
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Adds object-avoidance and motor control logic in the form of 'feelers' running on input from the vision pipeline.
This package takes the place of autonav_nav in last year's repo, replacing astar_node, purepursuit, and path_node or whatever it was called.
Note that currently feelers is untested in the sim (as vision pipeline is not written yet) and the logic for translating feelers to motor outputs is not at all good, and there are a few known issues (like feelers not taking into account the rotation of the robot).