ROS Planner Service #42
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rland93
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Apr 29, 2022
Created a planner service and a roslaunch for it. When it is initialized, the planner will read the contents of mission.json, and create a new mission.Mission object. It will then solve the optimization problem to produce an optimal surface on which plans between waypoints can be generated. It opens a plot in a separate process of the resulting plan. Finally, a roslaunch file was made. This is to allow configuration of the planner through a ros configuration file. This file is in config/planner_settings.yaml.
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How do we compute mission plans?
Even though we are starting with a "static" (i.e., unchanging) mission plan, this could change when we introduce dynamic obstacle avoidance.
In order to make the planner a little bit more extensible, I think we should have
planneras a ROS service. Clients can request a newplanand have one computed.Managing state might be a little bit difficult. I think
gncwill probably end up being the node that manages the state on the ground.Goal for this issue:
planner,that will use the RRT sheet planner to compute waypoint plansplannerwill be launched with the set of static obstacles that define the mission, so the expensive sheet optimization is only done once on launch.The text was updated successfully, but these errors were encountered: