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BCLab-UNM / SC2

Swarmathon Team Code for the NASA Space Challenge 2 Competition
MIT License
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Combined Linear/Angular Movement #183

Closed gmfricke closed 3 years ago

Carter90 commented 3 years ago

Scoot.py publishes control, Driver.py consumes a custom MoveRequest msg ['r', 'theta', 'timer', 'angular', 'linear', 'obstacles', 'timeout'] We could overload the r and theta if both are not 0.0 then go in to a strafing state

topic cmd_vel in drive_controller.py consumes Twist data like

linear: 
  x: 0.0
  y: -0.5
  z: 0.0
angular: 
  x: 0.0
  y: 0.0
  z: 0.0
Carter90 commented 3 years ago

https://user-images.githubusercontent.com/27081199/114514335-04357280-9bf0-11eb-9d2a-99798bb706dc.mp4

See changes in 2395eaea57f9ff838133f56cbefe337216ce5e0f c944ecbd2ac8f08f9d971fcd4bbf7be7285ab66c 4072afbbdcd75c8cc82e87888a5a6b188d5b0491

@NOTE there is currently a new bug added in this code where the goal wont be reached when strafing, need to pull @abbypribis changes from cap-drive-turn to track it down