We tested with 16 printed 0.03 meter fiducials and a floor sign to hold the goal fiducial
Requirements
A Pupper 2.0 robot flashed with the low level Teensey software for the motor controllers
A successful calibration and correctly configured motor IDs
The RaspberryPi and RaspberryPi camera running with the latest software
Running
Running the test is simple, once you have the calibrated pupper robot operating you can then run python3 /src/main.py
Unit Testing
A test for the boundary generation, discretization, and graph search can be run through python3 /src/path_test.py
This opens a pickled Environment object containing obstacle, agent, and goal data from a testing session and then performs a graph search using the PathFinder class
