Confusion with sampling_dt and global_interp_dt

[olzhas]

Hi @lucaBartolomei

There is a confusion with naming of the things in the smb_global_planner:

https://github.com/VIS4ROB-lab/smb_path_planner/blob/3359439e13e5624a7cc18ffa389d0272a5b0d44a/smb_global_planner/src/planner/smb_global_planner.cpp#L564

[lucaBartolomei]

Hi,

sampling_dt indicates the constant value at which you interpolate the trajectory to be sent to the controller. The global_interp_dt instead is the delta time for interpolating the global path. I agree that at the moment the way these parameters are used in the global planner is confusing.
Wherever in the global planner the sampling_dt is used, it should be replaced by global_interp_dt. Thanks for catching that!

FYI: soon this whole architecture will be changed, as we are moving to the ROS navigation stack (for teaching purposes).
-Luca