Sim launch position arg #43
Conversation
Code still not tested, could not figure out how to import world and trajectory into engine.py
Ideally would figure out how to not have to do this and just import them directly from auton directory
Rather than dealing with the two different Pose classes (from pose.py and rospy), just do the conversion directly in engine.oy
The sim now seems to start the buggy at the correct place, but auton doesn't seem to take it well and causes buggy to steer in very tight circles (buggy appears static on map)
…tics-Club/RoboBuggy2 into sim-launch-position-arg
PatXue
requested review from
Jackack and
christianvluu
and removed request for
Jackack
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I was imagining we have certain "keypoints/checkpoints" around the course where the buggies could start, instead of inputting a distance. Perhaps there's a different option upon launching that could allow you to specify the start location down to the particular coordinate/distance along the path, but in general, we're only going to be starting the simulation at a few positions right? @Jackack |
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The idea is to use distance to specify the key points |
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Yeah, was gonna ask what if we want to start slightly off from the path. |
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I requested a change to add raw coordinates as well, if that's what auto testing wants. There's also already a dictionary of key points in engine.py. It's commented out by this commit but we should keep that feature too. |
Uses start_pos arg as dict key if valid key, and as distance otherwise
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Added back in ability to use start_pos argument as a dictionary key for starting_poses, will work later on inputting utm coords |
What type of PR is this? (check all applicable)
Description
Changed arguments in single and 2 buggy simulator launch files to allow user to start buggy(s) from any distance along the planned trajectory by passing in command line arguments.
QA Instructions, Screenshots, Recordings
Tested single buggy sim on both Gabe's and my computer, and appears to behave as expected. Tested double buggy sim on my computer, and also seems to work as expected.