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Updated state machine with 2 story building for exploration and relay robots #53

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Updated state machine with 2 story building for exploration and relay robots #53

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AshayAswale
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Contains the changes for:

  1. Updated state machine flow
  2. Updated the test cases, New test cases are available under test_state_shift_team.py
  3. Movebase interface also publishes a visualizer point in rviz

Currently can only think of these, might have more minor changes. Will update the PR accordingly

AshayAswale and others added 30 commits December 4, 2021 02:57
@AshayAswale
move base interface for the state machine
8c6b310
@AshayAswale
Scheduler and state machine skeleton
fcf9732
@AshayAswale
tendons and tissues to skeleton
4b8566a
@AshayAswale
dirty fix to static issue
04bcd4b
@AshayAswale
connection checks and publishes
bc43111
@AshayAswale
Working explorer state machine
85f83f6
@AshayAswale
Explorer works on its own, doesn't communicate next location
3f6112d
@AshayAswale
working communication of relay and explorer
6b6be7d
@AshayAswale
pending commit for time prediction
5502969
@tberg1234
[ADD] finds largest frontier and travels to center --- slow
c7fb465
@tberg1234
[FIX] More efficient frontier search
3cd06e3
@tberg1234
[CHANGE] cell size in occupancy grid for quicker frontier convergence
4d43dc0
@tberg1234
[REFACTOR] overall function created
4b627b1
@tberg1234
[ADD] cost based frontier selection
e610583
@tberg1234
[ADD] exploration metrics for evalutation
1ea0197
@tberg1234
[CHANGE] consistant timing for both percent and distance - can match …
672a6eb 
…up timestamps
@tberg1234
[ADD] helper scripts
3462914
@tberg1234
[ADD] full inputs for reinforcment learning finalized
9fe6158
@AshayAswale
Updated commit hash for pausing exploration
a793680
@AshayAswale
Added ReadMe file for the state machine flow
bbb73d4
@AshayAswale
Modifications as requested by #18
6d53a3a
@tberg1234
changed helper files
8cfbc7c
@tberg1234
[ADD] all RL stuff
c00b682
@nikopoulospet
merge service request
c9718f4
@AshayAswale @nikopoulospet
move base interface for the state machine
09c4f05
@AshayAswale @nikopoulospet
Scheduler and state machine skeleton
eca6e96
@AshayAswale @nikopoulospet
tendons and tissues to skeleton
e469fa8
@AshayAswale @nikopoulospet
dirty fix to static issue
e3917ce
@AshayAswale @nikopoulospet
connection checks and publishes
80488dc
@AshayAswale @nikopoulospet
Working explorer state machine
3264d81
AshayAswale and others added 30 commits May 2, 2022 21:29
@AshayAswale
state machine tries to work, but navigation fails
78db9bd
@AshayAswale
draw robots connected list in argos
28e9e35
@AshayAswale
Draw robot state and direction rays
e82efd4
@AshayAswale
Velocity correction
b26d792
@AshayAswale
Changing variables
8fec5e8
@AshayAswale
Working argos sim, needs explore param tuning
5309ff5
@AshayAswale
Better exploration
d8c9454
@AshayAswale
fix for testcases
facde1c
@AshayAswale
minor bugfixes for exploration
04d3612
@AshayAswale
bugfix for localmaps
7bbad54
@AshayAswale
bugfixes for localmap, chosing exploration frontier, dump location
22293c0
@cj-mclaughlin
hough merge bugfix and logging
f47290d
@cj-mclaughlin
logging file ext
ce657a8
@cj-mclaughlin
logging file ext v2
a4ab234
@cj-mclaughlin
log all maps
33461f5
@AshayAswale
robots move a little at the start to get some starting data for merge
cb2ebf0
@cj-mclaughlin
test translation only
8f47c6b
@cj-mclaughlin
skip merge if high overlap
1c6ee75
@AshayAswale
Merge branch 'state_frontier_map_merge_update' of github.com:NESTLab/…
870475c 
…2122_MultiDroneIndoorSLAM into state_frontier_map_merge_update
@cj-mclaughlin
skip pose updates in map metadata
d009586
@AshayAswale
Merge branch 'state_frontier_map_merge_update' of github.com:NESTLab/…
ae9bc49 
…2122_MultiDroneIndoorSLAM into state_frontier_map_merge_update
@cj-mclaughlin
orientation
56c057b
@cj-mclaughlin
fix logging filenames
becca04
@AshayAswale
Merge branch 'state_frontier_map_merge_update' of github.com:NESTLab/…
03f7101 
…2122_MultiDroneIndoorSLAM into state_frontier_map_merge_update
@cj-mclaughlin
try postproc
561117d
@AshayAswale
increased the map resolution (finer maps)
6f089ae
@cj-mclaughlin
postprocessing and future comments
8069b08
@AshayAswale
Merge branch 'state_frontier_map_merge_update' of github.com:NESTLab/…
bb7894b 
…2122_MultiDroneIndoorSLAM into state_frontier_map_merge_update
@AshayAswale
testd post processing in demo
c0b6b5c
@nikopoulospet
live tests working partially well, not working with ros namespaces
18e756d
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@tylerferrara tylerferrara Awaiting requested review from tylerferrara

@tberg1234 tberg1234 Awaiting requested review from tberg1234

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6 participants
@AshayAswale @tberg1234 @nikopoulospet @tylerferrara @yshah9103 @cj-mclaughlin