AUTO-854 visualize planner espansions #21
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added 3 commits
May 16, 2023 15:50
doisyg
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scheunemann and
jayyoung
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jayyoung
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May 24, 2023
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Gave this a test on-top of: https://github.com/botsandus/auto-navigation/pull/30 and it works great, super interesting to see the path expansions appear.
I tested trying to break it by sending it out-of-bounds goals but it was pretty robust against that, and everything seems like it works as intended
I like my colour choice for the posearray better though!
scheunemann
approved these changes
May 24, 2023
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This PR, mirror of ros-navigation#3577, adds a
viz_expansionsparameter which when set to true publishes on the topic/expansionsthe path search for the SmacHybrid planner.For https://github.com/botsandus/auto-navigation/pull/30