Hi all,
We are working on an application that calls for driving our robot to a series of specific points, and so we are attempting to drive this behavior within carter_sim. We gather that this is possible using the goal_behavior set to “waypoints” and adding a series of these waypoints to the map’s config file, which consist of the following information including a “pose” array:
"waypoints": {
"waypoint_name_here": {
"color": [
255.0,
0.0,
0.0
],
"pose": [
1.0,
0.0,
0.0,
0.0,
14.978306705001756,
17.101809009009013,
0.0
],
"radius": 1.0
}
}
Regarding the “pose” array used by these waypoints and pose_as_goal: what is the format here?
I have gathered that the 5th and 6th elements ([4] and [5]) refer to the x and y coordinates respectively and that 4th element ([3]) refers to the angle, but I am having trouble understanding how exactly - and I am not sure what the other variables are for (though I suspect they are for axes carter_sim is incapable of moving on).
Is there a reference for this array format? I have looked all over the documentation including prototypes with no luck.
Thanks for reading!