Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Navigation #143

Draft
wants to merge 66 commits into
base: master
Choose a base branch
from
Draft

Navigation #143

wants to merge 66 commits into from

Conversation

SimoneMic
Copy link

Related issue #142

@SimoneMic
initial partial WIP commit for path following walking controller
dd858f6
@SimoneMic
first partial commit for accepting an input path for the walking cont…
0d5713d 
…roller
@SimoneMic
fixed compile bug and corrected data flow
72f7e52
@SimoneMic
fixed bug in m_path handling out of index
99730cd
@SimoneMic
added feet position logging port
d6e830f
@SimoneMic
fixed footprint port data type for visual debug
d8b2655
@SimoneMic
changed feet list origin data -> implemented a method on TrajectoryPl…
bad9c40 
…anner to get feet list from left and right
@SimoneMic
fixed footprints data sending
e50e858
@SimoneMic
The input path is expressed in the odom (world) frame. It gets pruned…
afdcb0f 
… inside the controller. Added a thread in Module for streaming information of the pose of the virtual unicycle used for trajectory generation
@SimoneMic
fixed typo in indexes
067cc39
@SimoneMic
tmp commit
3ab59e4
@SimoneMic
tmp commit: virtual_unicycle_base publishing fixed in base of the con…
309b9f1 
…tact feet status
@SimoneMic
Streaming correct odometry information from internal rootLink state. …
27bf202 
…Added timestamp to port.
@SimoneMic
added port streaming desired CoM positions
0ccc36c
@SimoneMic
initial commit for CoM trajectory evaluation: in this commit we are c…
7759b18 
…hecking when the CoM trajectory is updated and printing the actual CoM
@SimoneMic
tmp commit. display when the robot enters in double support. actual C…
0994e81 
…oM tracking on CoM planned trajectory
@SimoneMic
set up writing on port the trigger for replanning the navigation once…
d82606c 
… each trajectory merge
@SimoneMic
added initial odom velocity estimation on port
b322c25
@SimoneMic
changed navigation trigger fire condition. Checking the closest CoM o…
bcc9899 
…n CoM trajectory once per double-support, after a fixed number of indexes has been passed
@SimoneMic
added timed trigger option afer starting swinging the step
6fb1d04
@SimoneMic
tuned wait delay for nav trigger
7def85f
@SimoneMic
added stickBot robot config. WIP set up TrajectoryPlanner to work wit…
cbdfd47 
…h config for navigation or manual mode. Implementing navigation with omnidirectional motion
@SimoneMic
updated config files for stickBot. Implemented changes to the Unicycl…
f301b02 
…ePlanner, now it switches automatically based on the config.
@SimoneMic
fixed program flow with proper handling of every config - TODO add ma…
e660068 
…nual cases handling. TODO test Navigation in personFollowing
@SimoneMic
tuned parameters for side walking -> increased minWidth to 0.12
604e14e
@SimoneMic
tmp commit with small changes on program flow. Added debug print on f…
69d1774 
…unctions. Found bug when generating endless footsteps when generating first trajectories with minAngle=0
@SimoneMic
removed unused code (transformation and pruning of nav path in person…
6148778 
… following mode)
@SimoneMic
transforming input path into odom frame before extracting footsteps
ff7f9f9
@SimoneMic
added config files for ergoCubGazeboV1
718c670
@SimoneMic
fixed ergoCubGazeboV1 config files
5b9970e
@S-Dafarra S-Dafarra mentioned this pull request Apr 11, 2023
Open
This was referenced Apr 12, 2023
Open
Open
SimoneMic added 24 commits April 12, 2023 16:48
@SimoneMic
set m_runThreads as atomic
71e9ae4
@SimoneMic
moved navigation params in separate file
56da231
@SimoneMic
fixed typo for ini file config
b11663d
@SimoneMic
porting navigation features to separate file NavigationHelper
f82279e
@SimoneMic
implemented moving on other file the navigation trigger logic
345e3d9
@SimoneMic
first tmp changes to move also odom thread out of module
f4ba7ce
@SimoneMic
externalized threads about odom and nav trigger to NavHelper object
a94a1f8
@SimoneMic
added else station in case of null feet pointers
e690881
@SimoneMic
added footprints publishing in navHelper
c0a224e
@SimoneMic
implemented changes on publishing footsteps
e3c0041
@SimoneMic
added CoM publishing
c7c720c
@SimoneMic
added yarp port prefix and implemented changes in module
518374a
@SimoneMic
fixed bug in reading config. added config file for stream nav info
9d4087e
@SimoneMic
changed footsteps vectort type from Vector3 to struct Pose (x,y,theta)
e9a894d
@SimoneMic
Improved getFootprints conversion
2e29af0
@SimoneMic
moved stanceFoot as first element in getUnicycleState (it's an input)
3e1e40f
@SimoneMic
anticipated the m_publishInfo check on init
15b3e2a
@SimoneMic
removed unused code and vars. Finalized switching to navHelper
f0b8952
@SimoneMic
implemented navigation controller footstep planner in walking-controller
bb72e97
@SimoneMic
restored saturations and pid values to default
b16eb71
@SimoneMic
code formatting and comments
97243bf
@SimoneMic
removed warning in navigation trigger
751c2de
@SimoneMic
using shared memory for yarp port
a9d1167
@SimoneMic
tuned param for simulation
1eeebe0
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Reviewers

@GiulioRomualdi GiulioRomualdi Awaiting requested review from GiulioRomualdi GiulioRomualdi will be requested when the pull request is marked ready for review GiulioRomualdi is a code owner

@S-Dafarra S-Dafarra Awaiting requested review from S-Dafarra S-Dafarra will be requested when the pull request is marked ready for review S-Dafarra is a code owner

Assignees
No one assigned
Labels
None yet
Projects
None yet
Milestone
No milestone
Development

Successfully merging this pull request may close these issues.
1 participant
@SimoneMic