Planner bugfix #11
Planner bugfix #11
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- remove uav_game planner node - remove topic name convention from game-planner
carla uses left hand coordinate but ros uses right hand coordinate need to flip signs of y coordinate given in the csv file
- takes in path from map_updater - publishes a trajectory assuming constant reference speed
- set default to use .rviz file from carla_circle package
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Excellent work @cookiew!!
The code is working well on my local setup and the ego is tracking great!
I've made several specific comments for the committed code. Overall there isn't much to change, and a lot of it are questions for @simon-lc and @dfridovi as well. A couple of larger questions and comments here though.
Are the trivial planner and map updater doing similar things? I see the trivial planner is the replacement for the uav game codebase, but it seems like there might be a bit of overlap in the map updater as well?
Is the uav game code entirely removed at this point? This was the goal of issue #7. If so, that is awesome!
In general, I think it's a good idea to mention some of the issues you are handling in the commit messages. Anytime you use the # symbol followed by the issue number, GitHub will track it for us. That way everyone can follow exactly what issues the commits relate to as well. And more specifically, whenever the PR or commit finalizes an issue (i.e. it can be closed,) you can reference the issue by saying something like closes #7 in the commit message. Doing so will automatically track it in GitHub and close it for us. https://docs.github.com/en/free-pro-team@latest/github/managing-your-work-on-github/linking-a-pull-request-to-an-issue#linking-a-pull-request-to-an-issue-using-a-keyword. So long story short, we should update the message for the PR here to reference the issues and specifically mention resolving issue 7 if we have indeed closed that out. I'll update the README as well to no longer require uav game repo.
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@exoticDFT Were there specific questions for me / @simon-lc? |
@dfridovi No specific questions per say, just a couple of design related questions I threw into my comments for this PR. I was just hoping everyone would have a chance to look over Mingyu's additions and comment on what they believe is good to go, versus needing some modifications. |
- conversion between CARLA left-handed coordinates and ROS right-handed coordinates. Do the conversion while reading in csv file and keep all internal code to be right-handed coordinates. - remove redundant re-definition of odom_state classes - clean up and add documentation
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Thank you for the comments! I've made the corresponding changes @exoticDFT |
bug fix to update planners
now the ego vehicle is able to track the given route