Optimized paths

[LukeAnger1]

Annika suggested this. I want to add this in and we will still need state machine for stuck/unstuck and charging so it will just be different path calucations.

https://github.com/ethz-asl/scouting-ipp/tree/main

[LukeAnger1]

We should look into point readings we get and what is accurately predicted to get an idea of what navigation pattern is good.

[LukeAnger1]

Used this in class which may be helpful.
https://colab.research.google.com/drive/1f3EnbMUUX3B308OKpu5zDaCPCMdrISU0?usp=sharing

Also looking into adding in OMPL to be able to do planning

[LukeAnger1]

I like OMPL. The installation I was able to work through is below

Download this script

https://ompl.kavrakilab.org/installation.html
Comment out the python installations if it breaks on system packages

Install essential packages that don't get installed by script for some reason

sudo apt update
sudo apt install ninja-build g++
sudo apt install clang

NOTE: There is an issue with python3 -m venv vevn virtual env

If the python packages fail to install install them manually then comment out this command in the script

pip3 install https://github.com/CastXML/pygccxml/archive/develop.zip
pip3 install pyplusplus

Run the script

./install-ompl-ubuntu.sh --app
'''
To test the code I ran the below in python

try:
from ompl import base, geometric
print("Successfully imported OMPL modules!")

# Create a simple state space
space = base.SE2StateSpace()

# Set bounds
bounds = base.RealVectorBounds(2)
bounds.setLow(-1)
bounds.setHigh(1)
space.setBounds(bounds)

# Create a simple setup object
ss = geometric.SimpleSetup(space)

print("Successfully created SimpleSetup!")

except ImportError as e:
print(f"Error importing OMPL: {e}")