Condition to Switch Path - Akash#461
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akash-venkateshwaran wants to merge 10 commits intomainfrom
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akash-venkateshwaran
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…CSailbot/sailbot_workspace into akash_v_condition_switch_path
jamenkaye
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Mar 1, 2025
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Also need to add logic to update the global waypoint when we reach it I think.
| def __init__(self, parent_logger: RcutilsLogger): | ||
| """Initializes the LocalPath class.""" | ||
| self._logger = parent_logger.get_child(name="local_path") | ||
| # TODO: Remove these to make logger right |
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Can we use the ros logging? Pls remove the TODO comment either way
| self._logger.warning("Filtered wind sensor is None. Not computing OMPL Path") | ||
| return False | ||
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| if filtered_wind_sensor.speed.speed < 5: |
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Lets change this to a constant instead of just 5. Something like LOW_WIND_THRESH_KMPH
FireBoyAJ24
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Mar 1, 2025
| self._logger.warning("Filtered wind sensor is None. Not computing OMPL Path") | ||
| return False | ||
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| if filtered_wind_sensor.speed.speed < 5: |
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We can add a LOW_WIND_SPEED constant at the top of the file.
| """ | ||
| self.sailbot_position_latlon = gps.lat_lon | ||
| self.sailbot_speed = gps.speed.speed | ||
| self.reference = gps.lat_lon |
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We can use the LocalPathState class attributes rather than redefining them again here.
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Closing this as @raghumanimehta is currently working on a newer iteration of this task. |
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