-
Notifications
You must be signed in to change notification settings - Fork 0
New issue
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
Sw/update velocity #34
Conversation
Basic framework of VelocityUpdater class, just applies constant acceleration to the buggy
Added velocity_updater node to launch file
Removed mpc_calculator node from launch file to remove terminal error message when running simulation
Added calculate_accel function to vary velocity over time (currently accelerates for 20s and then stops)
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
Looks good but can you also add function/class headers like the other files?
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
Everything looks good but you need to pull the changes in main and merge them. Keep in mind that the topic names are remapped after the 2-buggy sim was merged into main. You will need to take the name of the buggy as a command line argument in your python file and prepend it to your topic paths. Consult the new 2d sim launch files for how to pass command line args via Roslaunch.
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
Looks good to me, just Jack's change request left.
Velocity updater code now works for both simulating single buggies and 2 buggies
Code for automatically changing velocity over time based on checkpoints on track