homer_navigation merge requestshttps://gitlab.uni-koblenz.de/robbie/homer_navigation/-/merge_requests2023-11-13T08:11:49Zhttps://gitlab.uni-koblenz.de/robbie/homer_navigation/-/merge_requests/25Draft: Path planning service2023-11-13T08:11:49ZDaniel Müllermuellerd@uni-koblenz.deDraft: Path planning service**TODO**: Implement ROS service for calling navigation node to plan from point A to B and return planned path.**TODO**: Implement ROS service for calling navigation node to plan from point A to B and return planned path.Daniel Müllermuellerd@uni-koblenz.deDaniel Müllermuellerd@uni-koblenz.dehttps://gitlab.uni-koblenz.de/robbie/homer_navigation/-/merge_requests/21WIP: Started implementing voxel map2023-11-29T13:21:58ZDaniel Müllermuellerd@uni-koblenz.deWIP: Started implementing voxel mapDaniel Müllermuellerd@uni-koblenz.deDaniel Müllermuellerd@uni-koblenz.dehttps://gitlab.uni-koblenz.de/robbie/homer_navigation/-/merge_requests/20Draft: Added RANSAC estimation of ground plane for compensation of non-planar...2023-11-20T08:58:01ZDaniel Müllermuellerd@uni-koblenz.deDraft: Added RANSAC estimation of ground plane for compensation of non-planar robot movementDaniel Müllermuellerd@uni-koblenz.deDaniel Müllermuellerd@uni-koblenz.dehttps://gitlab.uni-koblenz.de/robbie/homer_navigation/-/merge_requests/17[Navigation Refactoring] Cleaning up structures2022-10-31T10:26:27ZDaniel Müllermuellerd@uni-koblenz.de[Navigation Refactoring] Cleaning up structures## TODOs
* [x] Implement `laser_obstacle_node` which accumulates the last `n` laser range readings to an `nav_msgs/OccupancyGrid` for laser obstacle input in `planning_node`
* Currently done in `follow_path_node` for direct obstacle a...## TODOs
* [x] Implement `laser_obstacle_node` which accumulates the last `n` laser range readings to an `nav_msgs/OccupancyGrid` for laser obstacle input in `planning_node`
* Currently done in `follow_path_node` for direct obstacle avoidance there
* [ ] Implement `follow_path_node` containing all steering commands calculated and sent
* [ ] `path_planning_node` needs to monitor current deviation of `/pose` from path
* [ ] Recalculate path if too far off
* [ ] Recalculate path if obstacle appears on (or near) path
* [ ] Add state machines and state transitions in `planning_node` and others
* [ ] Smoothly increase speeds in contrast to current speeds
* [ ] Initial and final ramping
* [ ] Slow down when path curvature is too high in partial path before robot
## Debug
* [ ] Change goal topic back to `/planning_node/target_pose`
## Misc
* Also merge https://gitlab.uni-koblenz.de/robbie/homer_bringup/-/merge_requests/33Daniel Müllermuellerd@uni-koblenz.deDaniel Müllermuellerd@uni-koblenz.dehttps://gitlab.uni-koblenz.de/robbie/homer_navigation/-/merge_requests/13WIP: High map resolution support2021-06-23T20:12:42ZDaniel Müllermuellerd@uni-koblenz.deWIP: High map resolution supportTrying to get things working with higher resolutions, but planning and obstacle avoidance keep getting stuck in obstaclesTrying to get things working with higher resolutions, but planning and obstacle avoidance keep getting stuck in obstaclesDaniel Müllermuellerd@uni-koblenz.deDaniel Müllermuellerd@uni-koblenz.dehttps://gitlab.uni-koblenz.de/robbie/homer_navigation/-/merge_requests/10Changes for functionality in homer_exploration2021-04-29T08:27:38ZKevin Fischer RiosChanges for functionality in homer_explorationchanges for functionality in homer_exploration: when the exploration node runs, it needs to receive constantly msgs from /projected_map, and not only when it is navigating.
Also tried to resolve that the floor is not shown in /projected...changes for functionality in homer_exploration: when the exploration node runs, it needs to receive constantly msgs from /projected_map, and not only when it is navigating.
Also tried to resolve that the floor is not shown in /projected_map, by changing the value of min_range_z in line 161 (only when exploration is running), but has not yet worked.