Walking-controller expanded with navigation features
Nobody has claimed this yet.
Assessment
- Difficulty
- 5/5
- Estimated time
- Over a week
- Newbie friendliness
- 25/100
Research direction
Start by reading the Module and TrajectoryGenerator changes described in the issue, including the added threads, navigation ports, configuration parameters, and manual or path-based modes. Before coding, clarify the desired scope and acceptance criteria with maintainers; done should be agreed behavior for navigation communication without disrupting the default manual configuration.
Written by the indexing model from the issue text.
Description
Hello
I am opening this issue to illustrate the changes that I've made to the walking controller for enabling the communication with the navigation stack.
The main files impacted are the Module and TrajectoryGenerator
- Two new parallel threads have been added: one streams the odometry information of the virtual unicycle taken from
m_FKSolver, the other publishes the replanning trigger to the navigation stack (i.e. when to plan a new path). - The CoM and planned footsteps are being published on two separate ports for visualization purposes (Rviz) for the navigation stack.
- New config parameters for the navigation side
- Code flow has been changed to handle different types of configurations: manual, navigation with a 2D input path (x,y poses) - i.e. controller in personFollowing mode, navigation with a 3D input path (x, y, theta) - i.e. a different method is called from the footstep planner is called (changes here and this is the relevant PR )
- The code low is set by default to work in manual mode, so that the actual config files shouldn't be changed, ignoring thus all the navigation parameters
This issue is mainly for discussion, also because the code could be improved based on your needs and styles.
- Dominant language
- C++
- Stars
- 162
- Forks
- 51
- PR merge metrics
- No merged PRs in 30d
Getting set up
This project ships no dev container, Dockerfile or contributing guide, so setting up is up to you: start from its README, and see our first-contribution guide for the general steps.
First steps
- Read the whole issue, then the project's contributing guide.
- Comment on the issue to say you are picking it up — it saves two people doing the same work.
- Fork the repository and make your change on a branch.
- Open a pull request that references the issue number.
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