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Currently, the hydrophone time deltas are published every cycle that gazebo sends out position messages. However, this is not the real situation. In reality, hydrophone pings only occur once every two…
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Add a controlling class for the Bno055 sensor. This class should report the calibration status of all of the sensors within the BNO055 as well as overall system calibration, it should allow for the ca…
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The control system has a number of undocumented, odd additions to it that are unexplained. Correct any potential errors and clean up the class while providing comments.
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Eventually the hydrophones should be simulated using the absolute positions of the sub and the pinger.
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Enable the following CMake options for turning on all warnings and setting all warnings to errors:
-Wall -Werror
Update any code that no longer compiles due to errors.
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**Node Name:** thruster
### Inputs
**topic:** thruster **msg type:** [robosub/thruster](https://github.com/PalouseRobosub/robosub/blob/dev/msg/thruster.msg)
### Outputs
Serial interface to Maest…
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Port over the control system code to the ROS framework.
### Inputs
**ros topic:** control **msg type**: [robosub/control](https://github.com/PalouseRobosub/robosub/blob/dev/msg/control.msg)
**ros t…
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The trigger of the joystick resets the yaw, pitch and roll goals of the submarine, making it go flat. However, resetting the yaw causes it to swerve around so its yaw is zero. We've decided we don't l…