fixed robot config

PurdueLunabotics · Apr 27, 2024 · a6f8c30 · a6f8c30
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commit a6f8c30
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Showing 2 changed files with 7 additions and 1 deletion.
diff --git a/lunabot_config/config/real_robot.yml b/lunabot_config/config/real_robot.yml
@@ -1,13 +1,19 @@
 odom_topic: "/rtabmap/odom"
 cmd_vel_topic: "/cmd_vel"
 nav_goal_topic: "/goal"
+
+
 nav:
     map_topic: "/maps/costmap_node/global_costmap/costmap"
     map_update_topic: "/maps/costmap_node/global_costmap/costmap_updates"
     global_path_topic: "/nav/global_path"
     occ_threshold: 80 # corresponds to possibly-in-collision
     bezier_step: 0.01
     lerp_step: 0.05
+
+    dstar_node:
+        path_sampling_rate: 5 # Take every <n-th> point from the path
+
     mpc_node:
         rollout_count: 50
         top_rollouts: 15

diff --git a/lunabot_nav/scripts/dstar_node.py b/lunabot_nav/scripts/dstar_node.py
@@ -26,7 +26,7 @@ def __init__(self):
 
         self.dstar: Dstar = None
 
-        self.path_sampling_rate = 5 # TODO: WTF rospy.get_param("/nav/dstar_node/path_sampling_rate") # Take every <n-th> point from the path
+        self.path_sampling_rate = rospy.get_param("/nav/dstar_node/path_sampling_rate") # Take every <n-th> point from the path
 
         path_topic = rospy.get_param("/nav/global_path_topic")
         self.path_publisher = rospy.Publisher(path_topic, Path, queue_size=10, latch=True)