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Merged
krishauser merged 47 commits into from
May 16, 2025
Merged

S2025 Planning PR #219

krishauser merged 47 commits into from
May 16, 2025

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@brijesh2709
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@brijesh2709 brijesh2709 commented May 14, 2025

In this commit:

  1. Added mission plan state to onboard vertical teams
  2. Implemented KinoDynamic RRT* to navigate between coordinates
  3. Added 2 trajectory planners: Quintic Spline with s-curve profile and Longitudinal planner
  4. Pedestrian Detection and Yielding
  5. Obstacle avoidance (cones)

Trajectory along curves

Screenshot from 2025-05-14 17-53-02
Screenshot from 2025-05-14 17-53-06
Screenshot from 2025-05-14 17-52-56
Screenshot from 2025-05-14 17-52-59

Kinodynamic RRT* Exploration

bidirectional_kinodynamic_rrt_path_1747263160 2636797

shraddhaamohan and others added 30 commits May 10, 2025 16:53
@shraddhaamohan
Testing sim2real irl
c72815c
@sanjaypokkali
Fixed trajectory. Car stops (pokkali2, sm148)
56022e0
@shraddhaamohan
fully tested reak planning ( sm148, pokkali2, brijesh2, saik2, ps109)
85b2b1a
@brijesh2709
Merge branch 'gazebo_agent_detection' into s2025_planning_PR
4a67e1e
@brijesh2709
Merge fix obstacle.py
5d21442
@anandk1999
Cleaned up Kinodynamic RRT* implementation
6ea3060
@anandk1999
Small change - Kinodynamic RRT*
0e30c6d
@shraddhaamohan
Modify computational_graph, add ped_yield_logic and planning launch file
859fdf7
@brijesh2709
Add occupancy grid and visualization of rrt path code
d0ba6bf
@shraddhaamohan
Add collision checker for rrt
a1ce552
@brijesh2709
Add occupancy grid map utils for rrt
c0b1f47
@sanjaypokkali
Add updated route planning component, mission plan and base rrt star …
6851834 
…implementation
@brijesh2709
clearing the clutter
25d16ab
@jeffbyju
worked on a quintic hermite spline planner for generating a C2 contin…
5d4d4b3 
…uous trajectory
@jeffbyju
worked on the code for extracting occupancy grid from a screenshot of…
5e4a1c0 
… drivable+nondrivable area
@jeffbyju
added pgm file for the highbay map
36e7af3
@prathyush-706
Adding my code to the file
6885121
@jeffbyju
added the code for generating a quintic hermite spline to the correct…
c267266 
… file
@anandk1999
Kinodynamic RRT* planning added
5046446
@brijesh2709
Clean up trajectory planning component
cc7949e
@brijesh2709
Merge branch 's2025_planning_PR' of https://github.com/krishauser/GEM…
28eaf4c 
…stack into s2025_planning_PR
@brijesh2709
Synced trajectory planners different use cases
a146a92
@brijesh2709
Yaml file updates to show all available planners
2a69605
@brijesh2709
Delete unused files
71f12ff
@brijesh2709
Merge branch 's2025' into s2025_planning_PR
408c12f
@brijesh2709
working sim
46e93b6
@brijesh2709
remove files
9f8ead9
@brijesh2709
minor fixes
49b8fa5
@brijesh2709
Merge fixes 1
7bd4965
@brijesh2709
Merge fixes 2
fa5de46
@brijesh2709 brijesh2709 requested a review from krishauser as a code owner May 14, 2025 23:02
krishauser
krishauser requested changes May 15, 2025
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@brijesh2709
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brijesh2709 commented May 16, 2025

@krishauser I have left comments for you to review in regards to the file that planning team don't deal with. I have fixed all the other changes.

@brijesh2709 brijesh2709 requested a review from krishauser May 16, 2025 00:45
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sonarqubecloud bot commented May 16, 2025

Quality Gate Failed Quality Gate failed

Failed conditions
1 Security Hotspot
7.5% Duplication on New Code (required ≤ 3%)
C Reliability Rating on New Code (required ≥ A)

See analysis details on SonarQube Cloud

Catch issues before they fail your Quality Gate with our IDE extension SonarQube for IDE

krishauser
krishauser approved these changes May 16, 2025
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@krishauser krishauser left a comment

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Thanks for addressing the issues. LGTM

@krishauser krishauser merged commit b6e0ce5 into s2025 May 16, 2025
2 of 4 checks passed
@krishauser krishauser deleted the s2025_planning_PR branch May 16, 2025 18:46
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Reviewers

@sanjaypokkali sanjaypokkali sanjaypokkali left review comments

@krishauser krishauser krishauser approved these changes

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@shraddhaamohan shraddhaamohan

@muralikarteek7 muralikarteek7

@prathyush-706 prathyush-706

@sanjaypokkali sanjaypokkali

@brijesh2709 brijesh2709

@jeffbyju jeffbyju

@anandk1999 anandk1999

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9 participants

@brijesh2709 @krishauser @sanjaypokkali @shraddhaamohan @muralikarteek7 @prathyush-706 @jeffbyju @anandk1999