Added collision avoidance to MoveGlobal routine

2025-05-05 01:34:53 +02:00
parent a160af8de3
commit ccfd1189c2
30 changed files with 792 additions and 33 deletions
--- a/mg_planner/CMakeLists.txt
+++ b/mg_planner/CMakeLists.txt
@ -13,6 +13,7 @@ find_package(geometry_msgs REQUIRED)
 find_package(tf2 REQUIRED)
 find_package(tf2_ros REQUIRED)
 find_package(tf2_geometry_msgs REQUIRED)
+find_package(mg_obstacles REQUIRED)

 include(FindPkgConfig)
 pkg_search_module(LIBGLM REQUIRED glm)
@ -24,6 +25,7 @@ set(PACKAGE_DEPS
  tf2
  tf2_ros
  tf2_geometry_msgs
+  mg_obstacles
 )

 add_executable(mg_planner