From 40c96ffce92ba28e6741d8ca95d13eb6d7b15ed4 Mon Sep 17 00:00:00 2001 From: Sadanand Modak Date: Fri, 27 Jan 2023 13:26:22 -0600 Subject: [PATCH 1/3] Update Readme.md Add a step to pull all submodules --- README.md | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index e79823e..f0aa98d 100644 --- a/README.md +++ b/README.md @@ -31,7 +31,10 @@ sudo apt install libgoogle-glog-dev libgflags-dev liblua5.1-0-dev (Replace `MYDIRECTORY` with the actual directory) You can also add this to your `~/.bashrc` file so that you don't have to do this every time you open a new terminal. -1. Build the program: + +1. Run `git submodule update --init --recursive` to pull all the submodules + +1. Build the program (do **not** run `cmake`, `catkin_make`, `rosbuild`): ``` make ``` @@ -39,7 +42,6 @@ sudo apt install libgoogle-glog-dev libgflags-dev liblua5.1-0-dev ``` make -j ``` -1. Do **not** run `cmake`, `catkin_make`, `rosbuild`. ## Run From 12488a25319b39361c49cd06b4e996b2336e51d1 Mon Sep 17 00:00:00 2001 From: Sadanand Modak Date: Fri, 27 Jan 2023 14:42:46 -0600 Subject: [PATCH 2/3] Add todo for a bug --- src/navigation/navigation.cc | 1 + 1 file changed, 1 insertion(+) diff --git a/src/navigation/navigation.cc b/src/navigation/navigation.cc index 3a000d1..a753f45 100644 --- a/src/navigation/navigation.cc +++ b/src/navigation/navigation.cc @@ -533,6 +533,7 @@ bool Navigation::GetCarrot(Vector2f& carrot) { // V2COMP(robot_loc_), V2COMP(v0), V2COMP(v1), (v0 - v1).norm()); const int num_intersections = geometry::CircleLineIntersection( robot_loc_, params_.carrot_dist, v0, v1, &r0, &r1); + //TODO Bugfix: say set a nav goal -> goal reached -> switched to manual and start moving -> as soon as its gets away from the prev nav target, the following error starts continuously printing. So once nav target reached this following line should not be done. if (num_intersections == 0) { fprintf(stderr, "Error obtaining intersections:\n v0: (%f %f), v1: (%f %f), robot_loc_: (%f %f) sq_carrot_dist: (%f) closest_dist: (%f)\n", v0.x(), v0.y(), v1.x(), v1.y(), robot_loc_.x(), robot_loc_.y(), kSqCarrotDist, closest_dist); From 30f6471735b4c93eed06852ad350ae04397fc4ea Mon Sep 17 00:00:00 2001 From: Sadanand Modak Date: Sat, 28 Jan 2023 09:41:38 -0600 Subject: [PATCH 3/3] Delete todo navigation.cc Moved the todo to an issue https://github.com/ut-amrl/graph_navigation/issues/46 --- src/navigation/navigation.cc | 1 - 1 file changed, 1 deletion(-) diff --git a/src/navigation/navigation.cc b/src/navigation/navigation.cc index a753f45..3a000d1 100644 --- a/src/navigation/navigation.cc +++ b/src/navigation/navigation.cc @@ -533,7 +533,6 @@ bool Navigation::GetCarrot(Vector2f& carrot) { // V2COMP(robot_loc_), V2COMP(v0), V2COMP(v1), (v0 - v1).norm()); const int num_intersections = geometry::CircleLineIntersection( robot_loc_, params_.carrot_dist, v0, v1, &r0, &r1); - //TODO Bugfix: say set a nav goal -> goal reached -> switched to manual and start moving -> as soon as its gets away from the prev nav target, the following error starts continuously printing. So once nav target reached this following line should not be done. if (num_intersections == 0) { fprintf(stderr, "Error obtaining intersections:\n v0: (%f %f), v1: (%f %f), robot_loc_: (%f %f) sq_carrot_dist: (%f) closest_dist: (%f)\n", v0.x(), v0.y(), v1.x(), v1.y(), robot_loc_.x(), robot_loc_.y(), kSqCarrotDist, closest_dist);