Caffeine Navigates over Ramps

[erickmu1]

Description:

• We want to test how navigation is carried out with a ramp in the middle of its path
• A concern for when navigating over ramps is whether or not the ramp will be detected as an obstacle.
• Likewise another concern is wether the path planned is guaranteed to remain over the ramp (ie. robot does not go off the edge of the ramp)

Goals:

• Investigate whether Caffeine can navigate over a ramp
  • If not, then find a way to identify/filter ramps from not being detected as obstacles
• Verify that Caffeine does not go off the edge of a ramp
  • If lane detection is in, ensure robot starts and ends b/w lanes even if the ramp has no lanes painted on them

Acceptance Criteria:

• Give a nav goal where the shortest/only path is over the ramp and robot goes over it appropriately

Notes:

• Is blocked by the existence of a ramp(s) in the simulated IGVC world (Add ramp to IGVC world #70)
• We can probably "fake" lane detection by actually putting simulated physical walls where the lanes exist