Fix random walk continual obstacle avoidance #201
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basically the global path was being trimmed incorrectly. also added a check so that random walk won't try to go underground
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Fix random walk continual obstacle avoidance
What does this pull request do?
Fixes continuous random walk and obstacle avoidance. There were two issues. One, the propellers are being registered as obstacles. This is not fully fixed yet. For now, propellers have been turned invisible on the Nucleus server side. We have to address that in future. Two, the method for checking how far along the global plan we were had a bug. This has been fixed now. Three, made random walk replan if the drone fails to move for 3 seconds.
Which issue number does this address?
#200
Add videos and images if possible.
How did you implement it?
Edited
droan_local_planner.hpp. Also tuned parameters, such as setting safety weight in droan to 5.0.Testing
How do you run the tests?
Manual testing on the fire_academy.usd scene. Takeoff, global plan, then let it do its thing.
What do the tests do?
Manual test. Ensures continuous random walk and obstacle avoidance works.
What are the expected results of the tests?
Drone should fly random walk pretty continuously. Sometimes the drone still does get stuck in a corner and can't escape, occasionally the drone does pass through a wall. These are deeper bugs that need to be fixed later.
Did you update the docs (and where)?
Initial docs updated, see the paths in
mkdocs.ymlunder "local" signifying DROAN. I think in the future we should put all of DROAN things under the same folder. Need to fill out more docs in the future.