Magnezijum-Robotics/magrob
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Added collision avoidance to MoveGlobal routine

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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
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8
mg_planner/include/mg_planner/mg_planner_node.hpp
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@ -6,7 +6,7 @@
#include <rclcpp/client.hpp>
#include <rclcpp/service.hpp>
#include "mg_planner/a_star/a_star.hpp"
#include "mg_planner/obstacleManager.hpp"
#include "mg_obstacles/mg_obstacles.hpp"
#include "rclcpp/rclcpp.hpp"
#include "tf2_ros/buffer.h"
@ -25,7 +25,7 @@ namespace mg {
void fill_obstacles() { }
ObstacleManager& getObstacleManager() { return obstacle_manager_; }
ObstacleManager::SharedPtr getObstacleManager() { return obstacle_manager_; }
glm::ivec2 get_pos();
@ -33,8 +33,8 @@ namespace mg {
rclcpp::Service<mg_msgs::srv::CalcPath>::SharedPtr astar_service;
rclcpp::Publisher<mg_msgs::msg::Path>::SharedPtr path_pub_;
AStar astar_;
ObstacleManager obstacle_manager_;
AStar astar_;
ObstacleManager::SharedPtr obstacle_manager_;
std::shared_ptr<tf2_ros::Buffer> tf_buf_;
std::shared_ptr<tf2_ros::TransformListener> tf_listener;

10
mg_planner/include/mg_planner/obstacleManager.hpp
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@ -4,13 +4,5 @@
#include <vector>
namespace mg {
class ObstacleManager {
const std::vector<glm::vec2> static_obstacles_;
const std::vector<glm::vec2> permanent_obstacles_;
glm::vec2 dynamic_obstacle_;
public:
bool check_collision(glm::ivec2 pos, float size);
};
bool check_collision(glm::ivec2 pos, float size);
}