Our team successfully used PathWeaver in 2019 with the Talon SRX motion profiling. This year we fired up PathWeaver to discover there is a whole new framework for path planning in WPILib. It looks exciting, but we are having trouble getting it working.
We quickly got odometry working successfully (the biggest challenges were converting units to meters and understanding the correct way to specify the heading from the gyro reading). After a few more hours of work, we have successfully been able to generate a trajectory on-the-fly with WPILib’s new framework and our robot will drive the trajectory.
Even though we have had success with trajectories generated on-the-fly, we cannot get the PathWeaver generated paths to run successfully. We are loading the generated JSON file into a trajectory with TrajectoryUtils and then running a Ramsete command, the same way we are with our generated path. The robot does drive, and it appears to head in the right direction, but the command finishes before the robot reaches the end pose.
Has anyone else dug in yet and tried to use PathWeaver generated paths with the 2020 WPILib? Have you had success? What struggles did you have?