RE: https://mastodon.social/@fmrico/116368381359791521
This year, in our Software Architectures for Robots course at @RoboticaSw_URJC, we have created a comprehensive book.
The motivation has been to provide a solid reference on a topic that has very limited existing literature
English version coming soon
@fmrico @eif_urjc @OfiLibreURJC
> English coming soon
The illustrated page is exactly where I need help to answer:
- how do I make the the recovery, controller, planner tolerant of processing resource constraints:
1) When Discovery server grabs 100% of CPU
2) When controller isn’t giving sufficient time for recovery to act
3) by slowing everything down - cmd_vel, timeouts
4) rotate till coast is clear, then drive forward toward path
5) prefer rotate in place, over backup and drive turning
Francisco Martín Rico
cyclical_obsessive