Track dev 2 electric boogaloo #315
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…planner instead of our pure pursuit
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What type of PR is this? (check all applicable)
[required] Description
Big development push for our nav software. This PR validates the FaSTTuBE planner working on-track with some adjustments between sim and real.
Also integrates the Nav2 guidance stack, replacing our previous simple pure pursuit implementation with a more reliable counterpart - Regulated Pure Pursuit.
With the Nav2 stack now implemented, a handler for the action and behaviour tree was required so our missions could kick off planning and control as required.
An added benefit here is proper teardown of nodes upon mission completion or emergency stop. With Nav2 starting many more nodes than our entire navigation system before, killing off nodes is important so we dont have code running in the background
[required] Documentation
https://arxiv.org/abs/2311.14276 😉
Docs for the planner found in: #308
[optional] Usability concerns or breaking changes?
Trackdrive mission will now launch Nav2 guidance code, not pure_pursuit_cpp.
cone_placementmapping node is no longer state controlled. That is, it no longer only starts mapping cones when the state isDriving. Given the nodes are launched from the mission controller whenDrivinganyway, this assists debugging it separately.