Magnezijum-Robotics/magrob
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Added the ability to set postion

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Pimpest
2025-05-08 02:25:34 +02:00
parent 07cc056853
commit da3d1d9d15
9 changed files with 131 additions and 4 deletions
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4
mg_navigation/include/handlers/dwa_global.hpp
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@ -70,8 +70,8 @@ namespace mg {
const double obstacle_scoreA = glm::max(0.0, 0.02 - dist);
const double obstacle_scoreB = glm::max(0.0, 0.03 - dist2);
RCLCPP_INFO(baseNode.get_logger(), "Door Stuck %lf", dist);
RCLCPP_INFO(baseNode.get_logger(), "Door Stuck2 %lf", dist2);
// RCLCPP_INFO(baseNode.get_logger(), "Door Stuck %lf", dist);
// RCLCPP_INFO(baseNode.get_logger(), "Door Stuck2 %lf", dist2);
score += goal->pos_mult * (glm::distance(target_pos, pos) - glm::distance(target_pos, n_pos));
// score += goal->ornt_mult * (angl - n_angl);