Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Add rust visibility graph based path planning #663

Open
wants to merge 52 commits into
base: main
Choose a base branch
from
Open

Add rust visibility graph based path planning #663

wants to merge 52 commits into from
+697 −381

Conversation

Flova
Copy link
Member

@Flova Flova commented Feb 27, 2025

Checklist

  • Run colcon build
  • Write documentation
  • Test on your machine
  • Test on the robot
  • Create issues for future work
  • Triage this PR and label it

Helena Jäger and others added 30 commits November 13, 2024 14:52
feature/projekt24/pathfinding erstellt
594a71e
Removed costmap from map state
b5e4a83
Added A* on visibility graph
b27052f
fixed calculation of dilation in _update_robot_geometries
b7f7a45
Merge branch 'main' into feature/projekt24/pathfinding
7f350fb
added rviz2 test file for path planning
8afb027
added goal pose to visibility graph path
c65f734
added ball radius (not working)
7197465
removed A* grid implementation
3496a93
Map class cleanup
4ecf803
fixed 'dilate' typo
0b86779
changed dilation parameter to map coordinates
0d509fb
minor tweaks
1247d15
A* with rustworkx
5a807b2
path planning rviz graph update
9c7a145
Merge with mafiasi path planning codebase
9d4d1be
Move files to correct location
04852a7
added README
8e51c2b
initial commit (untested)
8c2b20b
fixed module initialization
5246d36
made fields readable
1b04e65
changed README
26b99cc
integrated external rust pathplanning
ce5dd61
changed some defaults
d12b19c
changed config parameters to reasonable values
0d7df46
timing stuff
c67464d
Merge branch 'main' into feature/projekt24/pathfinding
77e515f
changed best-effort strategy
3fbc4f7
changed default params
5be1b1a
removed unused import
4180784
confusedlama and others added 22 commits January 22, 2025 17:32
@confusedlama
Merge branch 'main' into feature/projekt24/pathfinding
9f3ea65
@confusedlama
Add missing dep
a83a8d6
@confusedlama
Add bitbots tf buffer to sync includes
2d9cff3
@confusedlama
Fix typing issues in vision
5147b60
removed measuring of planning step for evaluation
547322f
@Flova
Add 'bitbots_navigation/bitbots_path_planning_rust/' from commit '418…
180b583 
…0784c01add2fb7467d57adf147f308738659d'

git-subtree-dir: bitbots_navigation/bitbots_path_planning_rust
git-subtree-mainline: 547322f
git-subtree-split: 4180784
@Flova
Rename rust nav package
3529a97
@Flova
Remove the rust pathfinding code again
847611a
@Flova
Remove pytest stuff
57dbe3a
@Flova
Remove old auto gen file
7c78738
@Flova
Add docs
f521fbf
@Flova
Increase path planning gains
2ab88c5
@Flova
Remove old path planning dep
6c160d4
@Flova
Remove unused parameters
6c46ec1
@Flova
Remove unnesesary dummy parameter
23514f7
@Flova
make verbose CI debug build
6907a39
@Flova
Fix positioning error, that leads to the robot getting stuck before t…
af3eebf 
…he kick
@Flova
Fix approach marker
3dc8353
@Flova
Fix race condition in path_planning
4343f8e
@Flova
Always show markers
7f88a83
@Flova
Adapt API
781c725
@Flova
Merge branch 'main' into feature/rust/pathfinding
34e9203
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Reviewers
No reviews
Assignees
No one assigned
Labels
None yet
Projects
Software
Status: 🏗 In progress
Milestone
No milestone
Development

Successfully merging this pull request may close these issues.
2 participants
@Flova @confusedlama