Busted open frosty a bit for easy testing of the drive controller, all that really happened with him
was moving all the private methods to public, made a new launch file that doesn't attempt to start any dig controllers, and then made some clearly delimited changes to frosty's master node (all new code has big tags around it and just one part got commented out).
Commented out the debug level logging because I got sick of actionlib message spam.
Fixed plenty of bugs in the drive controller, but i think it is in a good place right now.
Currently, the first point of a path is replaced with a point slightly behind the robot and a warning is issued if the first point was more that 1ft away from the robot.
You can run a demo with:
roslaunch frosty_autonomy sim_drive_autonomy.launch --screen
You can launch drive controller visualization with:
rosrun drive_controller drive_controller_visualization_master
Note attempting to drive with the robot's nose pointed at the beacon wont work until localization is spruced up a bit.
See steady state angle and path error go to zero for reasonable paths.
Busted open frosty a bit for easy testing of the drive controller, all that really happened with him was moving all the private methods to public, made a new launch file that doesn't attempt to start any dig controllers, and then made some clearly delimited changes to frosty's master node (all new code has big tags around it and just one part got commented out).
Commented out the debug level logging because I got sick of actionlib message spam.
Fixed plenty of bugs in the drive controller, but i think it is in a good place right now. Currently, the first point of a path is replaced with a point slightly behind the robot and a warning is issued if the first point was more that 1ft away from the robot. You can run a demo with:
roslaunch frosty_autonomy sim_drive_autonomy.launch --screenYou can launch drive controller visualization with:rosrun drive_controller drive_controller_visualization_masterNote attempting to drive with the robot's nose pointed at the beacon wont work until localization is spruced up a bit.
See steady state angle and path error go to zero for reasonable paths.