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Port TPS A* planner to ROS2 #144

Merged
merged 78 commits into from
Jun 28, 2024
Merged

Port TPS A* planner to ROS2 #144

merged 78 commits into from
Jun 28, 2024

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jlblancoc
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Merge from WIP branch.
Still many TO-DOs:

  • Make it to optionally use /tf to determine starting pose.
  • Explicit usage of frame_id's.
  • Offer planning as a service.
  • Create complete demo launch file.

SRai22 and others added 30 commits February 13, 2023 22:45
@SRai22
Initial commit
e9429b7
@SRai22
Get LIDAR from Robot using mrpt-local-obstacles
5021196
@SRai22
Visualize Lidar scan
77b6b0f
@SRai22
starting out A* Navigator
840efc0
@SRai22
Add: mrpt map server node
0762516
@SRai22
Localization node running
4b1c297
@SRai22
Initial pose for localization
dd23ca5
@SRai22
progress navigator node
a852d7b
@SRai22
Nav Goal received
d6bae7e
@SRai22
progress
19f4eb8
@SRai22
WIP
c1fb8ee
@SRai22
Planner impl complete: TODO debug
adcdb6d
@SRai22
Refactor: Separate header file for class
a157f8d
@SRai22
Add visualization of grid map for planner
6e73c38
@SRai22
Add new subscribers + Vehicle interface
2f8ced6
@SRai22
add localization and odometry
b07134f
@SRai22
Add obstacle subscribers
63e7ea1
@SRai22
add velocity commands and publisher
1a6ae4f
@SRai22
Add navigator init functions
c7d78e6
@SRai22
Progress
c9c4b97
@jlblancoc
Fix localization initial errors
ea8f627
@SRai22
Add sandbox for path-planner debugging
f9c2f67
@SRai22
Planner working
0492ff0
@SRai22
Change the PTG class
6e0b819
@jlblancoc
fix ptg name; better ptg resolution.
2a281e3 
The more paths, the better: they will be used in the "refine" step only.
During A* planning they are decimated per the yaml params.
@jlblancoc
param tuning
e7aa3fd
@jlblancoc
ignore temporary ptg files
1596f56
@jlblancoc
sync to latest commit (cost=distance)
b53b7e6
@SRai22
Progress
9be76ce
@SRai22
WIP: Debug enq motion cmd
b452453
jlblancoc and others added 25 commits May 19, 2023 23:56
@jlblancoc
simpler ptg config
5cd2ed5
@jlblancoc
misc improvements
651bc98
@jlblancoc
tuning
99da1be
@jlblancoc
safer
d832aa9
@jlblancoc
progress
9cab90b
@jlblancoc
move to subdirectory
dc6cba3
@jlblancoc
import tps_astar_planner
2c434b4
@jlblancoc
rename
7086799
@jlblancoc
progress porting to ROS2
4d3f062
@jlblancoc
missing dep
37e2806
@jlblancoc
Merge branch 'ros2' into wip/port-tps-astar
4f0aaf3
@jlblancoc
Delete files already present in upstream astar lib
fefc186
@jlblancoc
Unify in one source file
2613049
@jlblancoc
Wip
685ed55
@SRai22
Separate navigator node
a47f45e
@SRai22
Remove nav related functions
1154037
@SRai22
ros2 python launch file - wip
ffa05ee
@SRai22
add: initialize_planner
fedb08c
@SRai22
Add: subscriber for goal location
429df16
@SRai22
progress: impl callback goal
7da3884
@jlblancoc
Merge branch 'ros2' into wip/port-tps-astar
43209d8
@jlblancoc
formatting and gitignore for temporary PTG sandbox files
e81aad0
@jlblancoc
Progress with astar node
fa9f1c2
@jlblancoc
Remove tps_atar_nav (I think the regular rnav should be enough?)
c4b3c09
@jlblancoc
fix default params
657578c
@jlblancoc jlblancoc enabled auto-merge June 28, 2024 06:08
@jlblancoc jlblancoc changed the title Poort TPS A* planner to ROS2 Port TPS A* planner to ROS2 Jun 28, 2024
@jlblancoc jlblancoc disabled auto-merge June 28, 2024 08:23
@jlblancoc jlblancoc merged commit b575d78 into ros2 Jun 28, 2024
4 checks passed
@jlblancoc jlblancoc deleted the wip/port-tps-astar branch June 28, 2024 08:24
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2 participants
@jlblancoc @SRai22