small improvements and add .gitignore#28
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haris-mujeeb
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JustusBraun
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JustusBraun
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Hi, thank you for your interest in MeshNav and improving the tutorials.
However, I think we should not overly complicate these tutorials. They are supposed to be a simple and reliable way for people to try MeshNav on their machines.
What is the reason to add the ability to disable the use of simulation time?
If you think MeshNav needs more advanced tutorials to guide people through setup on real robots or have any other ideas on how to improve the tutorials, feel free to create an issue so we can discuss it there :)
| dist_tolerance: 0.2 | ||
| # Angle in radians to the goal orientation to consider it reached. | ||
| angle_tolerance: 0.8 | ||
| # If the robot is stuck, it will ignore commands below this tolerance to avoid oscillations. |
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This is not correct. If the robot ignores velocity commands for this number of seconds the exe_path action is aborted
| "use_sim_time", | ||
| default_value="True", | ||
| description="Use simulation (Gazebo) clock if True.", | ||
| choices=["True", "False"], |
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We intentionally hard-coded the use_sim_time parameter to True so the tutorials are as simple as possible. I think we should not introduce the option now since the tutorials are supposed to run with the simulation and this would introduce another source of errors.
| ] | ||
| mesh_map_path = LaunchConfiguration("mesh_map_path") | ||
| mesh_map_working_path = LaunchConfiguration("mesh_map_working_path") | ||
| use_sim_time = LaunchConfiguration("use_sim_time") |
| "mesh_map.mesh_file": mesh_map_path, | ||
| "mesh_map.mesh_working_file": mesh_map_working_path | ||
| "mesh_map.mesh_working_file": mesh_map_working_path, | ||
| "use_sim_time": use_sim_time, |
| "world_name", | ||
| description="Name of the world to simulate and use for navigation.", | ||
| default_value="floor_is_lava", | ||
| choices=available_map_names, |
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What is the reason to add this option? The tutorials only have one version of each map so this only introduces another error source in the tutorial.
| DeclareLaunchArgument( | ||
| "start_rviz", | ||
| description="Whether rviz shall be started.", | ||
| "use_sim_time", |
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Again, the tutorials should be as fool proof as possible, so I do not like to add the option to disable sim time
| "world_name", | ||
| description="Name of the world to simulate" | ||
| + '(see mesh_navigation_tutorials\' "worlds" directory).' | ||
| description="The name of the SDF world file to load (without the .sdf extension)." |
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Here we should keep the hint to the worlds directory, or add a choices argument with the available world names
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Refine and improve tutorials: