search

BCLab-UNM / SC2

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

Move on brakes to behavior #72

Closed Carter90 closed 4 years ago

Carter90 commented 4 years ago

This should make the braking much more graceful, it is now the responsibility for the behaviors to call scoot.brake() it should also make multiple attempts to disengage the brakes in Driver and should not crash Driver when it fails added ROS warning and error messages to give visibility. service

Testing just run roslaunch ./launch/scoot.launch "name:=scout_1" "search:=searchRandomWalk" and compare to what is on master in regards to the jerkiness

Fixes #71 Resolves #70

If during your testing you see the "If you are seeing this message you can expect strange behavior[flipping] from the rover" message please let me know and remove the Fixes #71 and note that, I will change it to use a while loop insted

abbypribis commented 4 years ago

Is the goal that the _brakes_off function will be used everywhere instead of calling the brakes service? Or should this function be specific to Driver.py?

Carter90 commented 4 years ago

@abbypribis Yeah so we might add a similar try/except checking in scoot's service call methods that I have in the _brakes_off method

abbypribis commented 4 years ago

Cool, so it might be nice to include those changes in Scoot.py in this pull request

Carter90 commented 4 years ago

@abbypribis it has nothing to do with the scope of the changes in this pull and this branch has already been blasted by with my work flow, can open an issue and assign it to me and when I get a chance I will make another pull