Magnezijum-Robotics/magrob
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Added collision avoidance to MoveGlobal routine

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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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5
mg_planner/src/mg_planner_node.cpp
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@@ -34,8 +34,9 @@ mg::PlannerNode::PlannerNode() : Node("planner"), astar_(this) {
}
}
astar_.execute(get_pos(), std::move(goals), resp->indicies);
std::reverse(resp->indicies.begin(), resp->indicies.end());
mg_msgs::msg::Path path;
path.indicies = resp->indicies;
path.indicies = std::vector<int>(resp->indicies);
path_pub_->publish(path);
RCLCPP_INFO(get_logger(), "Handled request in %lf seconds", (get_clock()->now() - elapsed).seconds());
});
@@ -44,6 +45,8 @@ mg::PlannerNode::PlannerNode() : Node("planner"), astar_(this) {
tf_buf_ = std::make_shared<tf2_ros::Buffer>(get_clock());
tf_listener = std::make_shared<tf2_ros::TransformListener>(*tf_buf_);
obstacle_manager_ = std::make_shared<ObstacleManager>(this, tf_buf_);
}
glm::ivec2 mg::PlannerNode::get_pos() {