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Planner stuff #76

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Planner stuff #76

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88b3ae6
Uncomment out planner launch
asaba96 Jul 4, 2018
373d871
fixed arena params
asaba96 Jul 19, 2018
1a04103
support for test obst avoid abstract
asaba96 Jul 27, 2018
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2 changes: 0 additions & 2 deletions launch/motion_stack.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -11,12 +11,10 @@
<arg name="bond_id_namespace" value="$(arg bond_id_namespace)" />
</include>

<!--
<include
file="$(find iarc7_planner)/launch/planner.launch">
<arg name="platform" value="$(arg platform)" />
<arg name="bond_id_namespace" value="$(arg bond_id_namespace)" />
</include>
-->

</launch>
12 changes: 12 additions & 0 deletions launch/test_obstacle_avoidance.launch
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Original file line number Diff line number Diff line change
@@ -0,0 +1,12 @@
<launch>
<arg name="platform" default="sim" doc="string representing the platform" />
<node name="test_obstacle_avoidance_abstract" pkg="iarc7_abstract" type="test_obstacle_avoidance.py" />
<param name="safety_bonds/test_obstacle_avoidance_abstract/form_bond" value="true" />
<arg name="bond_id_namespace" default="safety_bonds" />
<arg name="fake_bat" default="false" doc="create a fake motor battery publisher" />

<include file="$(find iarc7_launch)/launch/main.launch">
<arg name="platform" value="$(arg platform)" />
</include>

</launch>
10 changes: 5 additions & 5 deletions params/arena.yaml
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Original file line number Diff line number Diff line change
@@ -1,9 +1,9 @@
# min and max arena specific constraints
arena:
max_x: 10.0 # meters
max_y: 10.0 # meters
max_z: 3.0 # meters
max_x: 20.0 # meters
max_y: 20.0 # meters
max_z: 4.0 # meters

min_x: -10.0 # meters
min_y: -10.0 # meters
min_x: 0.0 # meters
min_y: 0.0 # meters
min_z: 0.0 # meters
10 changes: 6 additions & 4 deletions params/safety_config.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,7 @@ safety_bonds:
priority: 200
motion_command_coordinator:
priority: 250
motion_planner:
motion_planner:
priority: 300
takeoff_land_abstract:
priority: 1000
Expand All @@ -33,7 +33,7 @@ safety_bonds:
priority: 1000
velocity_test_abstract:
priority: 1000
block_roomba_abstract:
block_roomba_abstract:
priority: 1000
roomba_request_executer_test_abstract:
priority: 1000
Expand All @@ -43,9 +43,11 @@ safety_bonds:
priority: 1000
high_low_speed_test_abstract:
priority: 1000
test_planner_abstract:
test_planner_abstract:
priority: 1000
joystick_velocity_test_abstract:
priority: 1000
go_to_roomba_abstract:
go_to_roomba_abstract:
priority: 1000
test_obstacle_avoidance_abstract:
priority: 1000