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a/docs/developer-guide/rosplane/navigation/path-manager.md b/docs/developer-guide/rosplane/navigation/path-manager.md index 59dea35..cb2fd87 100644 --- a/docs/developer-guide/rosplane/navigation/path-manager.md +++ b/docs/developer-guide/rosplane/navigation/path-manager.md @@ -44,8 +44,9 @@ If `use_chi` is set to `false`, then `path_manager_example` will use straight li See Figure 1 for an example of a real flight path flown using ROSplane with `chi_d` set to `false`. -| ![Example of flight path with straight lines and fillets](../../../assets/path_planner_assets/path-planning-overview.svg "Example of flight path with straight lines and fillets") | +| ![Example of flight path with straight lines and fillets](../../../assets/path_planner_assets/Big_hourglass.png "Example of flight path with straight lines and fillets") | | :--: | +| ![Example of flight path with straight lines and fillets](../../../assets/path_planner_assets/Big_hourglass_fillet.png "Example of flight path with straight lines and fillets") | |*Example flight path from an actual flight test showing the straight lines and fillets path type*| Note that using fillets to manage the corners often means that the aircraft does not actually achieve the waypoint. @@ -74,4 +75,4 @@ If the aircraft is pointing slightly right as it approaches the waypoint, it wil Changes or additions to any ROS2 interfaces should be done in the `path_manager_base` field. Changes to how `path_manager` "manages" the waypoints should be done by overriding the `path_manager_base::manage` method. -If you wish to change the way paths are defined, make sure that the `/current_path` topic is rewritten to contain the required information, and then make sure the `path_follower` knows how to handle the new definition. \ No newline at end of file +If you wish to change the way paths are defined, make sure that the `/current_path` topic is rewritten to contain the required information, and then make sure the `path_follower` knows how to handle the new definition.