search

BCLab-UNM / SC2

Swarmathon Team Code for the NASA Space Challenge 2 Competition
MIT License
2 stars 0 forks source link

Scoot hauler n excavator #65

Closed Carter90 closed 4 years ago

Carter90 commented 4 years ago

@NOTE: this pull request only encompass adding the excavator & hauler methods in scoot

build n sauce

you should have this down by now

run round 2

./srcp2-competitors/docker/scripts/launch/roslaunch_docker --run-round 2

start up minCore note prior needed changes below

roslaunch ./launch/scoot.launch "name:=excavator_1"

run the repl to open the ipython with a scoot instance

ROS_NAMESPACE="/excavator_1" rosrun scoot repl.py

Then try out the various methods excavator[bucket_info, move_*,get_*_angle ], hauler[bin_info, move_bin, get_bin_angle]

scoot.move_base_arm(0)
scoot.move_distal_arm(11)
[ERROR] [1596343970.180086, 102.023000]: move_base_arm:11 exceeds allowed limits moving to max position
scoot.move_base_arm(-9)
[ERROR] [1596343574.539936, 10.403000]: move_base_arm:-9 exceeds allowed limits moving to minimum position

@NOTE: to properly test you will need to disable task from being launched as it will interfere with testing to do that you will need to comment out 3 lines in src/scoot/src/MinCore.py

#launcher = roslaunch.scriptapi.ROSLaunch()
#launcher.start()
#launcher.launch(task_node)
Carter90 commented 4 years ago

Also as a side note that the file changed list is showing items from Round 2 and 3 skeleton #60 as it depends on those changes, also included my misc/run.sh outline, this should not work at this point