Merge branch 'main' into redtoo_dev

Author: redto0

README.md

@@ -31,6 +31,10 @@ If using Webots, you must install webots separately.
 
 The repo should now be built, and launch-able in sim or on the kart.
 
+*Note:* If you want to run Phoenix via your PC then connect via ssh using following commamnd
+
+`ssh -X isc@isc-onboard-1.local`
+
 ## Launching
 
 ### Sim

phoenix.repos

@@ -39,6 +39,14 @@ repositories:
       type: git
       url: git@github.com:luxonis/depthai-ros.git
       version: 82ce67c
+    polynomial_planner:
+      type: git
+      url: git@github.com:ISC-Project-Phoenix/Polynomial_planner.git
+      version: master
+    road_detectors:
+      type: git
+      url: git@github.com:ISC-Project-Phoenix/road_detectors.git
+      version: master
     hybrid_pp:
       type: git
       url: git@github.com:ISC-Project-Phoenix/hybrid_pp.git

phoenix_gazebo/config/robot_localization/robot_localization.yaml

@@ -195,6 +195,7 @@ ekf_filter_node:
 #    imu1_differential: false
 #    imu1_relative: false
 #    imu1_queue_size: 10
+
     #imu0_pose_rejection_threshold: 0.8
     #imu0_twist_rejection_threshold: 0.8
     #imu0_linear_acceleration_rejection_threshold: 0.8

phoenix_gazebo/launch/include/polynomial_planner/polynomial_planner.launch.py

@@ -47,4 +47,5 @@ def generate_launch_description():
                               description='Use simulation clock if true'),
         # Nodes
         plan,
-    ])
+
+    ])

phoenix_gazebo/launch/include/polynomial_planner/polynomial_planner_ai.launch.py

@@ -47,4 +47,4 @@ def generate_launch_description():
                               description='Use simulation clock if true'),
         # Nodes
         plan,
-    ])
+    ])

phoenix_gazebo/launch/include/road_detectors/obj_detector_ai.launch.py

@@ -47,4 +47,4 @@ def generate_launch_description():
                               description='Use simulation clock if true'),
         # Nodes
         det,
-    ])
+    ])

phoenix_gazebo/launch/include/road_detectors/obj_detector_cv.launch.py

@@ -47,4 +47,4 @@ def generate_launch_description():
                               description='Use simulation clock if true'),
         # Nodes
         det,
-    ])
+    ])

phoenix_gazebo/webots_project/protos/Phoenix.proto

@@ -267,4 +267,4 @@ PROTO Phoenix [
          centerOfMass [ 0.400000 0.000000 0.10000 ]
        }
     }
-}
+}