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Update Readme.md #45

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merged 3 commits into from
Jan 28, 2023
Merged

Update Readme.md #45

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40c96ff
Update Readme.md
sadanand1120 Jan 27, 2023
12488a2
Add todo for a bug
sadanand1120 Jan 27, 2023
30f6471
Delete todo navigation.cc
sadanand1120 Jan 28, 2023
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6 changes: 4 additions & 2 deletions README.md
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Expand Up @@ -31,15 +31,17 @@ 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
```
Optionally, to compile on all cores (make sure you have sufficient RAM!)
```
make -j
```
1. Do **not** run `cmake`, `catkin_make`, `rosbuild`.

## Run

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1 change: 1 addition & 0 deletions src/navigation/navigation.cc
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Expand Up @@ -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<float>(
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.
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You didn't want to commit this with this PR, did you?

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Oh I didn't want to create a separate PR for such a little thing. Hence included it with this. Is there any issue with it?

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I actually did not understand this issue, could you move this to the issue tracker? https://github.com/ut-amrl/graph_navigation/issues

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Removed the todo from navigation.cc and moved it to #46

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);
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