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Resolve how to handle BTpp dependency #51

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mjeronimo opened this issue Sep 5, 2018 · 0 comments
Closed

Resolve how to handle BTpp dependency #51

mjeronimo opened this issue Sep 5, 2018 · 0 comments
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@mjeronimo
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nav2_bt_navigator Behavior tree version of the navigator task

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@mjeronimo
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How do we handle the dependency on the BTpp library since it doesn't have an Ubuntu package. We could require anyone building this repo to first build Btpp from source and install. Other options?
@mjeronimo mjeronimo added nav2_mission_executor nav2_bt_navigator Behavior tree version of the navigator labels Sep 5, 2018
@mjeronimo mjeronimo self-assigned this Sep 5, 2018
@mjeronimo mjeronimo mentioned this issue Oct 5, 2018
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ghost referenced this issue in logivations/navigation2 Mar 7, 2022
@liyuanlogi @rdeniza
AGVFM-164 charging dock to charging station (#51)
0862932 
* add approach_charging_station BT

* fix ComputePreChargingGoals action

* add ReachPreChargingGoal2.action

* revise approach_charging_station BT

* fix approach_charging_station BT

* test GoalReached action

* add get_charging_goal_from_marker_action

* add GoalClose condition

* revise approach_charging_station BT

* revise approach_charging_station BT

* BT naming and cleanup

* fix behaviour tree

* output current_charging_goal from compute_pre_charging_goals_action_server

* agv should drive very slow while approaching final charging_goal

* use lidar_field=2 to stop agv while approaching charging_pose

* increase acc_lim and cleanup

* cleanup

* cleanup

* remove goal_close_condition_bt_node

* wait 5s before get charging_goal from marker

* Testing: use warning_field=3 to stop agv at charging_goal

* add pre_charging_goal_3

* remove pre_charging_goal_3

* add charger_drive_obst and increase acc_lim upto 0.008

* add charger_drive_obst

* use polygon obstacles for ApproachChargingStation

* reduce max_vel and acc_lim

* cleanup

Co-authored-by: rdeniza <[email protected]>
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nav2_bt_navigator Behavior tree version of the navigator task
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