Navigation Service - The-Bug-Bashers/iBOARCode GitHub Wiki
Overview
The Navigation Service handles autonomous navigation by calculating movement directions and speeds based on LiDAR data.
Built with Java, Maven, and Spring Boot.
Modes
Simple Navigate
- Selects the furthest distance that is not in a restriction zone.
- Two calculation modes:
- Recalculate every 0.5s.
- Wait until obstacle is reached before recalculating.
Restriction Zones
Static
- Always points 180° from target direction.
- Prevents backtracking.
- Note: May prevent maze completion if backward angles are needed.
Dynamic
- Always points 180° from current heading.
- Prevents the robot from getting stuck in a loop.
Commands
| Action | Command |
|---|---|
| Run | sudo screen -S NavigationService mvn spring-boot:run |
| Test if running | `sudo screen -list |
| Stop | sudo screen -S NavigationService -X stuff "^C" |
[!CAUTION]
Always start the MQTT Broker first.
[!IMPORTANT]
Always use the session nameNavigationService.