[Garden] Bridge wayfinding task topics and merge launch files #523
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Signed-off-by: Ian Chen <ichen@openrobotics.org>
caguero
reviewed
Sep 30, 2022
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Minor comment probably for a different PR. We should remove the StationKeepingScoringPlugin from the sydney_regatta world, create a separate station_keeping world including the StationKeepingScoringPlugin inside, and bridge the station keeping topics selectively as you did in this PR.
The Sydney Regatta world should be a sandbox to explore the project and move around without a specific task scoring plugin.
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sounds good, I'll take care of that. |
caguero
approved these changes
Sep 30, 2022
* add station keeping world * rename to stationkeeping_task Signed-off-by: Ian Chen <ichen@openrobotics.org> Co-authored-by: Ian Chen <ichen@openrobotics.org>
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I just merged gazebosim/ros_gz#305 and gazebosim/ros_gz#306. This PR is good to go in now |
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Signed-off-by: Ian Chen ichen@openrobotics.org
Part of #514 .
Depends on:
Bridges wayfinding_task topics:
I also merged the logic for spawning wamv in
competition_local.launch.pyintocompetition.launch.py. You should now only need to usecompetition.launch.pyUsage:
I'll update the wiki instructions once this is merged
To test the wayfinding task topics, launch the
wayfinding_taskworld. Note to see thewaypointsandmin_errorsros2 topics, you'll need the changes in theros_gzPRs listed above which add support for conversion between 2 new data types.