search

BCLab-UNM / SC2

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

Speed adjustment and handling AttributeErrors #85

Closed abbypribis closed 4 years ago

abbypribis commented 4 years ago

Fixed namespace for parameters declared in scoot.xml - changes in speed are reflected now. Max speed is set to 2*pi rad/s, as explained in issue #63. Added try and except block for recurring AttributeError (as mentioned in issue #84). Fake odom also prints the velocity of the rover now.

To test:

  1. Start the sim normally
  2. roslaunch ./launch/scoot.launch "search:=searchRandomWalk"
  3. Notice the lack of AttributeError messages

To test part 2:

  1. Start the sim normally
  2. Change the rover's DRIVE_SPEED in the scoot.xml
  3. roslaunch ./launch/scoot.launch "mode:=manual"
  4. ROS_NAMESPACE="/scout_1" rosrun scoot repl.py
  5. rostopic echo /scout_1/odom/filtered
  6. Drive the rover using scoot.drive(10) and watch the reported speed
  7. Compare different speeds