chibi20_2's People
chibi20_2's Issues
create blocked_way_checker
先ずは,経路封鎖を検出する仕組みを完成させる
update global path planner
map manager から新しい地図とway point を受け取ったら現在地とそのway pointを通過した上で一周させるpathを引き直すようにする
fix global_path_planner
一周分のパスを一個にまとめて配信する。
その際にパスの座標の順番を反転させて代入する
update mapmanager
blocked way checker からもらったmsgを用いて封鎖部分を書き足した地図と次に通るべきway pointをglobal path planner に渡す
障害物をよけられない
local_path_plannerのeliminate_obctacle_pathで障害物を一定時間以内に通るpathを候補から除去している(is_obstacleフラッグをtrueにしている)。
しかし,速度が遅くて衝突しないだけでいずれ衝突するpathが選ばれてしまい,回避しきれない(一瞬回避するpathを選んでもすぐに戻ってしまう)。
速度を下げるのではなく角度の違うpathを選択させるようにしたい。
build up local_map_creator
とりあえずlocal mapを生成できるようにする
create local_goal_creator
local_goal_creator を作る
役割:global path と現在地を受け取ってlocal_path_plannerにゴール地点を送る
create map_maneger
global_path_plannerからmap_creatorを分離
経路封鎖時のマップの受け取り機能を追加
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