-
Notifications
You must be signed in to change notification settings - Fork 8
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
PreciseNavigateToAction + IR readings subtree #145
Conversation
self.__executor = MultiThreadedExecutor() | ||
|
||
self.__robot = webots_node.robot | ||
self.__sensor_front_left = self.__robot.getDevice( |
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.
Bolje da svaki senzor bude instanca plugina, posto cemo ga i sljedece godine koristiti. Onda u URDF samo konfigurisemo koje senzore koristimo
Ako sam dobro primetio, da bi senzori udaljenosti detektovali protivničke robote, neophodno je podesiti njihove bounding objekte (senzori detektuju sempl ako ga stavim ispred, ali ne detektuju robote). Kako je moguće da lidar detektuje robote bez bounding objekata ili ja nešto propuštam? |
Dobro zapazanje :) LiDAR se obradjuje na GPU, povlaci informacije iz OpenGL koji ima samo informacije o vizualnoj reprezentaciji. Senzori udaljenosti se obradjuju na CPU i dobijaju informaciju o udaljenosti od physics engine-a (ODE). |
void publish() | ||
}; | ||
|
||
|
||
publisher_->publish(detection_fl | detection_fr | detection_rl | detection_rr); |
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.
Ovo mi cudno izgleda, mozda si hteo definisati publish() funkciju? Je l ovo builduje?
@angstrem98 @VladimirVincan Sta mislite o ovom pristupu: To bi ugradili u distance-angle kontroler, ako Problem moze biti da costmap-a ukljucuje i staticke prepreke, ali vidim dva rjesenja:
|
Mislim da bi moglo sa novom, dodatnom cost mapom. Sutra se vracam u NS pa cu cackati i dogovaramo se dodatno. |
Rijeseno u #168 |
#125