Challenge 4: Obstacle avoidance using sonar and laser sensors via a motor schema architecture

Preparation

Go to your repository, return in master branch and create a new one:

git checkout master
cd ~/catkin_ws/src/autonomous_systems_architectures/
git checkout -b challenge_4

Go to the autonomous_exploration/config/autonomous_explo.yaml and change these:

• calculate_target: False
• velocities_architecture: 'motor_schema'

Task

The task is to fill the function produceSpeedsMotorSchema located here. The idea is to use the code of challenges 1 and 2 and combine the two sets of velocities in a motor-shema fashion. Do not pay attention to the goal speeds yet.

Points

10 out of 100