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BCLab-UNM / SC2

Swarmathon Team Code for the NASA Space Challenge 2 Competition
MIT License
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Where in the world is the volitile sensor #46

Closed Carter90 closed 3 years ago

Carter90 commented 4 years ago

It would be nice to know where volitile sensor is on the rover relative to the chassis so we can score points

Carter90 commented 4 years ago

for testing adjust the volatile_sensor_static positions in src/scoot/launch/tf.xml

  <node name="stfChassis2volatileSensor"
    pkg="tf"
    type="static_transform_publisher"
    args="1 0 0 0 0 0 $(arg name_tf)/chassis $(arg name_tf)/volatile_sensor_static 100"
    respawn="true"/>
Carter90 commented 4 years ago

Something to check when I'm not at 10% battery life. "Currently the volatile sensor frame is named /rover_name/volatile_sensor. The top is the collision box representing the physical presence of the volatile sensor. The center of this box is where the volatile sensor detection range originates" https://gitlab.com/scheducation/srcp2-competitors/-/issues/209

Carter90 commented 4 years ago

Its been reported that the location has been moved to top, so to get the offset can get it from

rosrun tf tf_echo /scout_1_tf/chassis /scout_1_tf/top

should yield 

- Translation: [0.300, 0.000, 0.271]
- Rotation: in Quaternion [0.000, 0.000, 0.000, 1.000]
            in RPY (radian) [0.000, -0.000, 0.000]
            in RPY (degree) [0.000, -0.000, 0.000]

need to apply this shift and test