feat(data_collecting_tool): add multiple courses #113
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YoshihiroKogure
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| @@ -410,22 +749,52 @@ def updateNominalTargetTrajectory(self): | |||
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| long_side_margin = 5 | |||
| long_side_margin = 5 | |||
| total_distance = ld * (1 + np.pi) * 2 | |||
| # total_distance = ld * (1 + np.pi) * 2 | |||
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| @@ -372,7 +711,7 @@ def updateNominalTargetTrajectory(self): | |||
| lb = (l2 + l4) / 2 | |||
| if np.abs(la - lb) < 1e-6: | |||
| la += 0.1 # long_side_length must not be equal to short_side_length | |||
| ld = np.sqrt(la**2 + lb**2) | |||
| # ld = np.sqrt(la**2 + lb**2) | |||
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confirmed that it works in my environment.
internal slack: https://star4.slack.com/archives/C05UHMNSE5C/p1726122855613459?thread_ts=1726120701.103249&cid=C05UHMNSE5C |
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Signed-off-by: Yoshihiro Kogure <[email protected]>
Signed-off-by: Yoshihiro Kogure <[email protected]>
Signed-off-by: Yoshihiro Kogure <[email protected]>
Signed-off-by: Yoshihiro Kogure <[email protected]>
Signed-off-by: Yoshihiro Kogure <[email protected]>
Signed-off-by: Yoshihiro Kogure <[email protected]>
Signed-off-by: Yoshihiro Kogure <[email protected]>
Signed-off-by: Yoshihiro Kogure <[email protected]>
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rebased on main to fix commits |
This reverts commit 369fb12. Signed-off-by: Yoshihiro Kogure <[email protected]>
Signed-off-by: Yoshihiro Kogure <[email protected]>
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Signed-off-by: Yoshihiro Kogure <[email protected]>
kosuke55
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Sep 27, 2024
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Description
Course Selection
Added several courses to accommodate various cases of data collection.
You can use following courses by setting COURSE_NAME to "eight_course", "u_shaped_return", "straight_line_positive" or "straight_line_negative" in
data_collecting_trajectory_publisher.py.( Both "straight_line_positive" and "straight_line_negative" represent straight line courses, but the direction of travel of the course is reversed.)
Eight course
U-shaped course
Straight line course
Increased Frequency
There was a problem with the frequency dropping when plotting data counts in real time. This problem was mitigated via threading and Callback Groups.
Related links
Tests performed
Notes for reviewers
Interface changes
Effects on system behavior
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