update doc

Author: SimonKennethRobo

.gitignore

@@ -7,4 +7,6 @@ build/
 .catkin_tools
 abseil-cpp
 
-**__pycache__**
+**__pycache__**
+
+**temp**

README.md

@@ -59,7 +59,7 @@ Recommend to use the following script if you haven't installed ROS yet:
 wget http://fishros.com/install -O fishros && . fishros
 ```
 
-Simple installation script:
+Super simple installation! Just run:
 
 ```shell
 bash ./install.sh

install.sh

@@ -1,7 +1,7 @@
 sudo apt install -y ros-noetic-rviz-imu-plugin ros-noetic-move-base ros-noetic-navfn tmux python3-catkin-tools python3-wstool python3-rosdep ninja-build stow ffmpeg lua5.2 liblua5.2-dev libceres-dev ros-noetic-ros-control ros-noetic-navigation ros-noetic-jsk-rviz-plugins htop ros-noetic-velodyne-description ros-noetic-flir-camera-description ros-noetic-lms1xx ros-noetic-pointgrey-camera-description ros-noetic-sick-tim ros-noetic-interactive-marker-twist-server ros-noetic-diff-drive-controller ros-noetic-joint-state-controller ros-noetic-joy ros-noetic-robot-localization ros-noetic-teleop-twist-joy ros-noetic-topic-tools ros-noetic-twist-mux xclip
 
 sudo apt-get remove -y ros-${ROS_DISTRO}-abseil-cpp
-python -m pip install Pillow markupsafe==2.0.1 jinja2 ipdb scipy casadi
+python3 -m pip install Pillow markupsafe==2.0.1 jinja2 ipdb scipy casadi
 
 git clone https://github.com/osrf/gazebo_models.git ~/.gazebo/models
 

src/final_fsm/launch/fsm.launch

@@ -27,7 +27,8 @@
   <include file="$(find final_fsm)/launch/explore.launch" />
 
   <!-- Launch the state machine -->
-  <node ns="final_fsm" pkg="final_fsm" type="state_machine_node.py" name="state_machine_node" output="screen" />
+  <node ns="final_fsm" pkg="final_fsm" type="state_machine_node.py" name="state_machine_node" output="screen" respawn="true"/>
+    
 
 
 </launch>

src/final_fsm/src/states.py

@@ -116,7 +116,7 @@ def __init__(self, robot):
         self.process = None
         self.curr_phase = 0
         self.sent_num_box_pose = False
-        self.gcostmap_client = DynamicReconfigureClient("/move_base/global_costmap/", timeout=30)
+        self.gcostmap_client = DynamicReconfigureClient("/move_base/global_costmap/", timeout=60)
 
     def init(self, arg):
         self.robot.pub_explore.publish(True)
@@ -159,7 +159,7 @@ def terminate(self):
 class Task3Tracking(State):
     def __init__(self, robot):
         super().__init__(robot)
-        self.gcostmap_client = DynamicReconfigureClient("/move_base/global_costmap/", timeout=30)
+        self.gcostmap_client = DynamicReconfigureClient("/move_base/global_costmap/", timeout=60)
     def init(self, goal_pose):
         self.robot.pub_goal.publish(goal_pose)
         self.gcostmap_client.update_configuration(

src/final_pnc/temp/curr_params_log.json

@@ -1,5 +1,5 @@
 {
-    "time": "2025-04-04 19:55:55",
+    "time": "2025-04-04 20:02:35",
     "method": "mpc",
     "map_frame": "map",
     "ref_path_topic": "/move_base/TrajectoryPlannerROS/global_plan",