Mehulg/paralellism #50
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Jackack
reviewed
Mar 7, 2024
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Also, can you add testing instructions for 2 buggy sim as well as single buggy sim. |
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Jack, what do you mean by testing instructions? |
See "QA instructions" in PR template. Just write down what roslaunch commands to use and what results should be expected |
Jackack
approved these changes
Mar 13, 2024
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What type of PR is this? (check all applicable)
Description
CHANGE: Introduced multi-threading to autonsystem, path planner and local controller on separate threads now.
REASON: Currently the performance of the local controller was hovering at around 50 Hz because it had to wait on the
path planner. Now, with both being intertwined, the local controller is able to run faster.
BENEFITS: The controller now runs without stops and is running at around 100Hz
Related Tickets & Documents
QA Instructions, Screenshots, Recordings
I ran the simulation with buggy_launch for single and two buggies, and the buggy seemed to be working as normal.
Added/updated tests?
We encourage you to keep the code coverage percentage at 80% and above.
have not been included
[optional] Are there any post deployment tasks we need to perform?
[optional] What gif best describes this PR or how it makes you feel?