Updated code from the summer #194
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Added functionality to map walls into the grid. Wall width mapped to grid is customizable through param in landmark server
Signed-off-by: Christopher Strøm <[email protected]>
control logic for the asv to navigate through the initial buoy formation of the docking task
Signed-off-by: Christopher Strøm <[email protected]>
Added base njord task node that other tasks will inherit from
alekskl01
requested changes
Aug 17, 2024
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The sitaw folder should be restructured, add polygons in their own folder, params somewhere else
asv_setup/launch/sitaw.launch.py
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If the ASV is to be worked on further, please split it into a better repo structure.
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| # if not isinstance(path, Path): | ||
| # raise TypeError("path must be an instance of Path") |
| @@ -66,7 +99,7 @@ def calculate_coriolis_matrix(nu: np.ndarray) -> np.ndarray: | |||
| [0, 0, 5.5], | |||
| [82.5, -5.5, 0] | |||
| ]) | |||
| return C_A @ nu | |||
| return (C_A @ nu) * 0 | |||
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why is this set to zero?
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| sensor_msgs::msg::PointCloud2 cluster_msg; | ||
| pcl::toROSMsg(cluster, cluster_msg); | ||
| cluster_msg.header.frame_id = get_parameter("fixed_frame").as_string(); | ||
| cluster_publisher_->publish(cluster_msg); | ||
| pcl::PointCloud<pcl::PointXYZ> convex_hull; | ||
| pcl::ConvexHull<pcl::PointXYZ> chull; | ||
| chull.setDimension(2); | ||
| chull.setInputCloud(cluster.makeShared()); | ||
| chull.reconstruct(convex_hull); | ||
| sensor_msgs::msg::PointCloud2 hull_msg; | ||
| pcl::toROSMsg(convex_hull, hull_msg); | ||
| hull_msg.header.frame_id = get_parameter("fixed_frame").as_string(); | ||
| convex_hull_publisher_->publish(hull_msg); | ||
| Eigen::Array<float, 2, Eigen::Dynamic> hull(2, convex_hull.size()); | ||
| for (size_t i = 0; i < convex_hull.size(); i++) { | ||
| hull(0, i) = convex_hull.points[i].x; | ||
| hull(1, i) = convex_hull.points[i].y; | ||
| } | ||
| return hull; | ||
| } |
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this code block is a bit dense
| vortex_msgs::msg::OdometryArray filteredLandmarksOdoms; | ||
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| for (const auto &landmark : storedLandmarks_->landmarks) { | ||
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| if (goal->landmark_types.empty() && distance == 0.0) { | ||
| if (filter_type == 6 && distance == 0.0) { |
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what is filter_type 6? why is it an integer?
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| # map_origin_lat: 0.0 | ||
| # map_origin_lon: 0.0 | ||
| # use_predef_map_origin: false |
| map_manager_node: | ||
| ros__parameters: | ||
| use_predef_landmask: true | ||
| landmask_file: "src/vortex-asv/mission/map_manager/params/land_polygon.yaml" |
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this does not seem to be used as the path is incorrect. I would also think there would be better ways of doing this from the launch file.
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| // 63.44098584906518, 10.42304390021551 | ||
| // 63.41490901857848, 10.398215601285054 | ||
| // Office traffic centre origin | ||
| // map_origin_lat_ = 63.41490901857848; | ||
| // map_origin_lon_ = 10.398215601285054; |
…into test/29.04
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Cleaning up the summer code from Njord and removing unused packages.