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Package Summary

Tags No category tags.
Version 0.1.0
License MIT
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/dorezyuk/gpp.git
VCS Type git
VCS Version master
Last Updated 2021-02-18
Dev Status MAINTAINED
CI status Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The gpp_prune_path plugin will prune the path produced by a global-planner

Additional Links

No additional links.

Maintainers

  • Dima Dorezyuk

Authors

No additional authors.

GppPrunePath

The GppPrunePath is a demo plugin, which reduces the number of elements within a path produced by a global planner.

Behavior

The input path must contain at least two poses. If the path is shorter, the plugin will fail. The output will always contain the first and the last pose of the input path. The intermediate poses will be pruned.

Config

~<name>\/step (int, 2)

Defined how many poses to skip. Setting this value to N means that your output will contain every Nth value. Setting this value to 3 for example, will skip two poses. An input sequence of [1, 2, 3, 4, 5, 6, 7, 8…] would become [1, 4, 7, …]. Values smaller than 2 will deactivate the pruning.

Below an example how to configure this plugin

# this is for move-base-flex.
# activate the GppPlugin
plugins:
    - {name: gpp_plugin, type: gpp_plugin::GppPlugin}

# configure the gpp_plugin to use gpp_prune_path
gpp_plugin:
    # define the pre_planning and planning groups...
    # define the post_planning group:
    post_planning:
        - {name: gpp_prune_path, type: gpp_prune_path::GppPrunePath, on_failure_break: true}
    post_planning_default_value: True

# configure the gpp_prune_path
gpp_prune_path:
    step: 3

CHANGELOG

Changelog for package gpp_prune_path

0.0.1 (2021-01-27)

  • update documentation
  • add gpp_update_map
  • add gpp_prune_path example
  • formatting
  • update docs
  • disable spam in the test
  • Contributors: Dima Dorezyuk

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

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Launch files

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Services

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Plugins

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