[cleanup] Move mapping into urc_perception and remove unused code in urc_perception
#198
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This PR is getting too large, so decided to break it up into multiple smaller PRs to make validation easier. Closing. |
yambati03
changed the title
mapping into urc_perception and remove unused code
davidcalderon03
changed the title
mapping into urc_perception and remove unused codemapping into urc_perception and remove unused code in urc_perception
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Has the current A* implementation been tested with these changes? We can move forward with this PR as it is, and subsequent PRs can clean up other parts of the codebase. |
yambati03
changed the title
mapping into urc_perception and remove unused code in urc_perceptionmapping into urc_perception and remove unused code in urc_perception
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Also tested on the rover and everything still works. LGTM. |
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Description
This PR deletes some unused code in the
urc_perceptionpackage and moves the mapping code into this package.Expectation: Mapping + re-planning still works as expected in simulation.
This screenshot was taken after launching
bringup_simulation.launch.pywith thebt_test.xmlbehavior tree on this branch. This shows that mapping and re-planning still works as expected.Self Checklist
ament_uncrustify --reformat