Challenge 8: Calculate velocities towards path traversing, including the sonars and the laser measurements via a subsumption 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_8

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

• calculate_target: True
• velocities_architecture: 'subsumption'

Task

The task is to fill the function produceSpeedsSubsumption located here. The idea is to use the code of challenges 1, 2, 5, 6 and 7 and combine the three sets of velocities in a subsumption fashion.

Points

10 out of 100