State machine #22
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State machine #22
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nchan18
commented
Mar 20, 2024
nchan18
commented
- Reorganized state machine
- Added actions for each step in state machine.
- Fine tuned sensor values
- Reset Odometry
nchan18
commented
Mar 20, 2024
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Remove Trajectory controller comments.
| @@ -55,10 +55,12 @@ bool Odometry::update(double front_left_wheel_velocity,double front_right_wheel_ | |||
| { | |||
| // We cannot estimate the speed with very small time intervals: | |||
| double dt = time.seconds() - timestamp_.seconds(); | |||
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| RCLCPP_INFO(node_->get_logger(), "time: %f", time); | |||
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Get rid time in logger
c4glenn
reviewed
Mar 20, 2024
| @@ -118,6 +132,7 @@ def generate_launch_description(): | |||
| node_robot_state_publisher, | |||
| joint_state_broadcaster_spawner, | |||
| mecanum_drive_controller_delay, | |||
| effort_controllers_spawner, | |||
| # rviz2_delay, | |||
| joy, | |||
c4glenn
reviewed
Mar 20, 2024
| { | ||
| double robot_imu_orientation = odom->getHeading(); | ||
| // RCLCPP_INFO(rclcpp::get_logger("TeleopTwistJoy"), "robot_orientation: %f", robot_imu_orientation); | ||
| double temp = linear_x_cmd * cos(robot_imu_orientation) + linear_y_cmd * sin(robot_imu_orientation); |
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maybe new_linear_x_cmd would be a better name here
c4glenn
reviewed
Mar 20, 2024
| self.down_tof_pub = self.create_publisher(LaserScan, "/grr/down_tof", 10) | ||
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| self.left_tof_pub = self.create_publisher(LaserScan, "/grr/left_tof", 10) |
c4glenn
reviewed
Mar 20, 2024
| @@ -132,7 +141,7 @@ def joint_command_callback(self, data:JointState): | |||
| if name not in self.servo_mapping.keys(): | |||
| self.get_logger().info('Skipped') | |||
| continue | |||
| effort = data.effort[i] | |||
| effort = data.position[i] | |||
c4glenn
reviewed
Mar 20, 2024
c4glenn
reviewed
Mar 20, 2024
| @@ -146,6 +146,14 @@ controller_interface::return_type MecanumController::update( | |||
| Twist command = *last_command_msg; | |||
| double & linear_x_cmd = command.twist.linear.x; | |||
| double & linear_y_cmd = command.twist.linear.y; | |||
| if (this->fieldOrientationEnabled) | |||
| { | |||
| double robot_imu_orientation = odom->getHeading(); | |||
c4glenn
reviewed
Mar 20, 2024
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| from state_actions.action import Action | ||
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| # This action is meant to take care of placing the April tags in the beginning |
c4glenn
approved these changes
Mar 20, 2024
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