Provide complete TEB config as JSON

• Instead of setting the TEB weights within the code (TimedElasticBands::initConfig()), a JSON file should be created which holds the parameters in the same format (same structure as TEB).
• the structure must be replicated in ARON (local_planning/aron/TimedElasticBands.xml)
• JSON -> ARON is natively available. However, the conversion ARON -> teb_local_planner::TebConfig must be added to local_planning/aron_conversions.

added hiwi local-planning labels

To me, it seems like that our config is not fully specified, e.g. all bools are set to false as there is no default config.

The default values of the config are set in the constructor of teb_local_planner::TebConfig found in teb_config.h.

For example the value trajectory.global_plan_overwrite_orientation which you added to our initConfig and set to true is already set to true there.

All right. But the config should be available as JSON anyways.

assigned to @groegerto

marked the checklist item Instead of setting the TEB weights within the code (TimedElasticBands::initConfig()), a JSON file should be created which holds the parameters in the same format (same structure as TEB). as completed

marked the checklist item the structure must be replicated in ARON (local_planning/aron/TimedElasticBands.xml) as completed

marked the checklist item JSON -> ARON is natively available. However, the conversion ARON -> teb_local_planner::TebConfig must be added to local_planning/aron_conversions. as completed

mentioned in merge request !39 (merged)

closed