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Make configuration parameters for rrt util #1606

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HussainGynai opened this issue Nov 11, 2020 · 0 comments
Open

Make configuration parameters for rrt util #1606

HussainGynai opened this issue Nov 11, 2020 · 0 comments

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@HussainGynai
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The constants in question are:

ConfigBool* RRTConfig::enable_rrt_debug_drawing;
ConfigDouble* RRTConfig::step_size;
ConfigDouble* RRTConfig::goal_bias;
ConfigDouble* RRTConfig::waypoint_bias;
ConfigInt* RRTConfig::min_iterations;
ConfigInt* RRTConfig::max_iterations;

We want them to be declared using the new ROS parameters interface. An example of using the parameters interface:
https://github.com/RoboJackets/robocup-software/blob/ros2/soccer/include/rj_vision_filter/params.hpp
https://github.com/RoboJackets/robocup-software/blob/ros2/soccer/src/rj_vision_filter/params.cpp

For the following parameter declaration:

DECLARE_NS_INT64(kVisionFilterParamModule, filter::health, init)

You can access it using filter::health::PARAM_min.

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