Js nav #893
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Js nav #893
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Contributor
manx52
commented
Sep 20, 2024
manx52
commented
- Only the minimal change is included in this PR the commits are kept minimal
- Code is readable and documented in the code
- Minimal tests have been added
…n reallife, i could hard code it to 0. renamed walk engine to navagator. some clean up in footstep planner. reworked walk_engine/ navigator to use both time or position as a goal for walking. tuned pid for pybullet and webots for accurate navigation to goal and changing the vel cmd for walking. Tested and verified in webots and pybullet need some cleaning for modularity
…a cone. Added a relative ball pose. Added tracking a point in the relative frame for navigation. Figured out that going faster sometimes fixes the problem. Added yaw control. Nearly there just need to put it together
… see if it was better and got mixed results. fixed req.txt
…st of ros packages needed. got rid of the protobuf generation because it was breaking the build. added new services and made the cuda more modular. reorganized the dockerfile so that it doesnt take that long to rebuild by putting putting the update code base much later in the process. Made it multi stage and segmented the long downloads into its own stage. Also added a symlink so that we can use the docker compose as an interpreter
…file in tools/setup is changed so we dont have to run all of it again. Also converted the list of packages into the rosdep.txt. Fixed the cmake protobuf problem by giving the USER ownership of the code. Removed yolov5 in external it is not used. Started integrating better docker project structure for the misc tools like docker and generic setup. made the compose more of a global folder that extends the docker in the tools folder. Moved dockerfile to the docker folder.
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