Code

Odometry readjustement#31

Code

Merged

PhileasL merged 69 commits intomasterrobotique-ecam/cdfr:masterfrom odometry_readjustementrobotique-ecam/cdfr:odometry_readjustementCopy head branch name to clipboardFeb 26, 2021

+346-75

Commits

Commits on Feb 1, 2021

• add service adjust_odometry

  PhileasL

  committed
  99150c8

  Copy full SHA for 99150c8

• add service caller adjust odometry + update tf map->odom on readjust

  PhileasL

  committed
  d152d24

  Copy full SHA for d152d24

Commits on Feb 2, 2021

• rework on robot_param controller and adding inflation layer costmap

  PhileasL

  committed
  34ceda0

  Copy full SHA for 34ceda0

• storing 20 tf + retrieve the tf near the stamp of the tf in callback

  Show description for efa6e54
  PhileasL

  committed
  efa6e54

  Copy full SHA for efa6e54

Commits on Feb 3, 2021

• simulation get_sim_time + true quaternion from sim

  PhileasL

  committed
  2b933cc

  Copy full SHA for 2b933cc

• condition change + managing extreme indexes

  PhileasL

  committed
  417dbab

  Copy full SHA for 417dbab

• extract_pose_from_transform + set_transform_from_pose functions

  PhileasL

  committed
  c329478

  Copy full SHA for c329478

• algorithm to get base_link_relative_to_new_odom tf

  PhileasL

  committed
  baff0c6

  Copy full SHA for baff0c6

• sending new tf and new odom with readjustement

  PhileasL

  committed
  7129137

  Copy full SHA for 7129137

• Init _previous_tf vector + adding dependency to cmakelist

  PhileasL

  committed
  b4eddf0

  Copy full SHA for b4eddf0

• TransformBroadcaster + 'adjust_odometry' publisher + quaternion_to_euler

  PhileasL

  committed
  2367bf5

  Copy full SHA for 2367bf5

Commits on Feb 4, 2021

• Changing odometry_readjustement strategy, removing service

  PhileasL

  committed
  d7ba7a7

  Copy full SHA for d7ba7a7

• Re-basculing to static map to odom transform

  PhileasL

  committed
  6bb8e49

  Copy full SHA for 6bb8e49

• Getting the static map to odom transform

  PhileasL

  committed
  d40ed7c

  Copy full SHA for d40ed7c

• use sim time + clean all traces of service 'ajust_odometry'

  PhileasL

  committed
  2af55ca

  Copy full SHA for 2af55ca

• The key is to update variables instead of tf !

  PhileasL

  committed
  925dfb1

  Copy full SHA for 925dfb1

• strange behavior of tf2::doTransform, need my own functions

  PhileasL

  committed
  8a6166d

  Copy full SHA for 8a6166d

• It might be all the functions i need

  PhileasL

  committed
  7e4ccd9

  Copy full SHA for 7e4ccd9

• setting up the idea, need to fill the functions now

  PhileasL

  committed
  3e0476c

  Copy full SHA for 3e0476c

• almost working, adding a dummy function to avoid odom sliding

  Show description for fc3a017
  PhileasL

  committed
  fc3a017

  Copy full SHA for fc3a017

• Little tweaking on tf, working good now !

  PhileasL

  committed
  92b1899

  Copy full SHA for 92b1899

• A static transformation need to be publish only once + little fixes

  PhileasL

  committed
  f16543b

  Copy full SHA for f16543b

• Publishing the robot transformation for drive to readjust odometry

  PhileasL

  committed
  d96d9a8

  Copy full SHA for d96d9a8

Commits on Feb 5, 2021

• small fix, can now recalibrate even if the information is .75s from past

  PhileasL

  committed
  abe9844

  Copy full SHA for abe9844

• teb_local_planner no longer turn 2*180° for a simple backward drive

  PhileasL

  committed
  1e9f406

  Copy full SHA for 1e9f406

Commits on Feb 12, 2021

• Remove things that needed to be delete in merge of PR #27 #28

  PhileasL

  committed
  d5c14eb

  Copy full SHA for d5c14eb

• Global planner works now at 2Hz, drive's garbage log not showing anymore

  PhileasL

  committed
  7ef6151

  Copy full SHA for 7ef6151

• Local_costmap contains obstacles for teb_local_planner

  Show description for d17a549
  PhileasL

  committed
  d17a549

  Copy full SHA for d17a549

• Tweak of the global_costmap for an acceptable global_planning

  PhileasL

  committed
  88833b5

  Copy full SHA for 88833b5

• Teb_local_planner tweak:

  Show description for c472520
  PhileasL

  committed
  c472520

  Copy full SHA for c472520

• Hello teb_obstacles node !

  Show description for 9b4ab36
  PhileasL

  committed
  9b4ab36

  Copy full SHA for 9b4ab36

• teb_obstales node launching with nav

  PhileasL

  committed
  9994d67

  Copy full SHA for 9994d67

• Subscribing + callback to allies and ennemies topics

  PhileasL

  committed
  7a9e9e5

  Copy full SHA for 7a9e9e5

• Initialisation of obstacles array

  Show description for 58e6888
  PhileasL

  committed
  58e6888

  Copy full SHA for 58e6888

• dictionnary_index_id:

  Show description for 7c8dd54
  PhileasL

  committed
  7c8dd54

  Copy full SHA for 7c8dd54

• ennemies_subscription_callback function of teb_obstacles

  Show description for ef09df5
  PhileasL

  committed
  ef09df5

  Copy full SHA for ef09df5

• WIP on allies_subscription_callback for teb_obstacles

  PhileasL

  committed
  421869c

  Copy full SHA for 421869c

• Set_obstacles function for teb_obstacles

  Show description for 6f63d31
  PhileasL

  committed
  6f63d31

  Copy full SHA for 6f63d31

• Publishing dynamic obstacles each .5s + including them in teb config

  PhileasL

  committed
  3528e58

  Copy full SHA for 3528e58

• /robot/get_odom_map_tf service that returns the initial map->odom tf

  PhileasL

  committed
  691dfe9

  Copy full SHA for 691dfe9

• Client of /robot/get_odom_map_tf for future pose transform

  PhileasL

  committed
  b230aba

  Copy full SHA for b230aba

• Different allie tracking strategy for dynamic obstacle

  Show description for 803b68d
  PhileasL

  committed
  803b68d

  Copy full SHA for 803b68d

• removing useless remapping + commentaries on teb_obstacles functions

  PhileasL

  committed
  df97f05

  Copy full SHA for df97f05

Commits on Feb 23, 2021

• Robot position extrapolation:

  Show description for 422108a
  PhileasL

  committed
  422108a

  Copy full SHA for 422108a

• Repositionning of vlx in webots + asterix supervisor: TRUE

  PhileasL

  committed
  d619826

  Copy full SHA for d619826

• Gobelets removing

  PhileasL

  committed
  bcc1be7

  Copy full SHA for bcc1be7

• Min x and y from the walls for a full turn without collisions

  Show description for 0855252
  PhileasL

  committed
  0855252

  Copy full SHA for 0855252

• Tweak of the laser response noise + sleep time between samples

  PhileasL

  committed
  c984fed

  Copy full SHA for c984fed

• vlx_array + function to get all distances

  PhileasL

  committed
  5d7a74f

  Copy full SHA for 5d7a74f

• full path and distance getting for sector 1

  PhileasL

  committed
  59cd70a

  Copy full SHA for 59cd70a

• csv ready

  PhileasL

  committed
  c2c2e66

  Copy full SHA for c2c2e66

• acquire_data function

  PhileasL

  committed
  55b91e1

  Copy full SHA for 55b91e1

• obstacle avoidance

  PhileasL

  committed
  0b725de

  Copy full SHA for 0b725de

• vlx + remove_gobelets functions

  PhileasL

  committed
  a06597f

  Copy full SHA for a06597f

• reading csv

  PhileasL

  committed
  4019c1c

  Copy full SHA for 4019c1c

• regression test using NuSVR from sklearn

  PhileasL

  committed
  63cf1d2

  Copy full SHA for 63cf1d2

• testing model function

  PhileasL

  committed
  bda036d

  Copy full SHA for bda036d

• Testing a new splitting strategy

  PhileasL

  committed
  063cee7

  Copy full SHA for 063cee7

• Testing the new strategy

  Show description for 8a94cb9
  PhileasL

  committed
  8a94cb9

  Copy full SHA for 8a94cb9

Commits on Feb 25, 2021

• Data from machine learning before deleting the unused method

  PhileasL

  committed
  3bac8c8

  Copy full SHA for 3bac8c8

• Removing unused method

  PhileasL

  committed
  ac909ce

  Copy full SHA for ac909ce

• Merge branch 'master' into odometry_readjustement

  PhileasL

  authored
  6be5c65

  Copy full SHA for 6be5c65

• Merge branch 'master' into odometry_readjustement

  3wnbr1

  authored
  d99f780

  Copy full SHA for d99f780

Commits on Feb 26, 2021

• Blacked python code

  PhileasL

  committed
  1d66fe3

  Copy full SHA for 1d66fe3

• Blacked localisation_node + fix lexical problems

  PhileasL

  committed
  be35ecb

  Copy full SHA for be35ecb

• Refactoring enemies_subscription_callback function

  PhileasL

  committed
  1b50224

  Copy full SHA for 1b50224

• Revert drive log: output="screen"

  PhileasL

  committed
  c9739f9

  Copy full SHA for c9739f9

• Alright then, teb_obstacle is trully blacked now

  PhileasL

  committed
  ded9c98

  Copy full SHA for ded9c98

• Removing useless instructions

  PhileasL

  committed
  5456500

  Copy full SHA for 5456500