Magnezijum-Robotics/magrob
2
0
Fork 0
Code Issues Pull Requests 1 Actions Packages Projects Releases Wiki Activity

Added collision avoidance to MoveGlobal routine

Browse Source
This commit is contained in:
Pimpest
2025-05-05 01:34:53 +02:00
parent a160af8de3
commit ccfd1189c2
30 changed files with 792 additions and 33 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
mg_navigation/include/handlers/dwa_core.hpp
View File

@ -106,10 +106,13 @@ namespace mg {
pos_query();
target_init();
rclcpp::Time elapsed = baseNode.get_clock()->now();
rclcpp::Rate rate(UPDATE_RATE);
while (target_check() && rclcpp::ok()) {
target_update();
baseNode.obstacle_manager()->update_dynamic();
baseNode.obstacle_manager()->update_static();
if (hgoal->is_canceling()) {
cancel();
return;
@ -138,7 +141,6 @@ namespace mg {
cvl = spacevl[b_ind];
cvr = spacevr[b_ind];
send_speed(step * cvl, step * cvr);
rate.sleep();
}
succeed();