Source code

The source code for Local Pathfinding can be found in src/local_pathfinding. Its README has been copied below.

Local Pathfinding

UBC Sailbot's local pathfinding ROS package

Run

Using main launch file: ros2 launch local_pathfinding main_launch.py

Wind Tracking

Local pathfinding keeps a rolling apparent-wind history in WindTracker so wind history survives LocalPathState replacement during path regeneration. Once the history reaches WIND_HISTORY_LEN readings, WindTracker.aw_avg is used as the smoothed apparent wind estimate.

Each generated local path stores path_generated_wind, the apparent wind value used by OMPL for that path. This is the rolling average when available; before the rolling average is populated, it falls back to the current filtered apparent wind reading. Wind-based path switching compares the current rolling average against path_generated_wind, so a path is regenerated only when the smoothed wind has drifted significantly from the wind used to generate the current path.

Launch Parameters

Launch arguments are added to the run command in the format <name>:=<value>.

name	description	value
log_level	Logging level (default: {INFO})	A severity level (case insensitive) {DEBUG, INFO, WARN, ERROR, and FATAL}
mode	Mode (default: development)	{development, production}
test_plan	Test Plan is not required when mode=production	any test definition yaml file in local_pathfinding/test_plans. (eg. test_plan:=basic.yaml)

Some other important commands

• ros2 topic list: Lists all the topics (ROS 2 topic list documentation)
• ros2 node list: Lists all the nodes that are running
• ros2 topic echo <topic name>, e.g.: ros2 topic echo /filtered_wind_sensor: (ROS2 topic echo documentation)
• You can also do ros2 topic echo <topic name> --field <field name> to isolate a field in a topic (eg. speed in \filtered_wind_sensor)

• ros2 <command> -h can be used to get more info about any command.