Simple ROS node that parses and provides handcrafted action plans as a service based on CSV data. Used in the context of my master's thesis.
Four actions are available in the scenario, and each line in the .csv file represents one action of the plan.
drive_to(lat, lng, theta)
return_to_base
charge
scan
drive_to,52.32043739026998,8.153532860027937,0
scan
drive_to,52.320634371203766,8.153602612483242,0
scan
return_to_base
charge
$ roslaunch plan_generation plan_generation.launch
$ roslaunch plan_generation plan_generation.launch plan_path:=PATH_TO_PLAN
$ rosservice call /plan_generation/get_plan