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URC Controller #354

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Daniel-Martin576 opened this issue Nov 8, 2020 · 0 comments
Open

URC Controller #354

Daniel-Martin576 opened this issue Nov 8, 2020 · 0 comments
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Good for New Members planning Issues relating to planning, navigation, and/or trajectory optimization

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@Daniel-Martin576
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Goal: Make a controller for the urban challenge that is able to switch between planners. It should use our navigation_controller for the start light and finish line logic and use the urc controller as a state machine to orchestrate. You can look at the old controller
to see how it was done.

URC Controller:

  • Subscribe to lane keeper speed & steering (lane_keeper/speed...)
  • Subscribe to turn action speed & steering (turning_action/speed...)
  • Lane Keeping: Passthrough lane keeper controls (/lane_keeper/speed -> /speed)
  • If received sign direction store it (/turn_action:{LEFT, RIGH, STRAIGHT))
  • Once you arrive at a stop bar /stop_bar_arrived: Bool), call turning action (/turning_action/speed -> /speed)
  • Action completed the turn, return to lane-keeping

Files Edited (at least): rr_iarrc/src/urc_controller/urc_controller.cpp

Success Criteria:

  • Node parameters configurable through the launch file
    • All topic names should be configurable since they might change at any time
  • Test with Urban Challenge Simulation, might have to manually publish on some topics to test since this relied on other pending issues.
@Daniel-Martin576 Daniel-Martin576 added Good for New Members planning Issues relating to planning, navigation, and/or trajectory optimization labels Nov 8, 2020
@ruiyi-gao ruiyi-gao self-assigned this Nov 8, 2020
This was referenced Jan 26, 2021
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Labels
Good for New Members planning Issues relating to planning, navigation, and/or trajectory optimization
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