The main change in this PR is creating separate threads for the controller and path planner.
The reasoning behind this is that currently every time the path planner is running, the controller is inactive causing large jumps.
This should have the benefit of increasing overall controller frequency, and also consistency in the controller.
Related Tickets & Documents
Related Issue #
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QA Instructions, Screenshots, Recordings
Tested a single buggy sim on my computer and it appears to behave as expected. Tested the double buggy sim and seems to behave as expected on my computer also.
Added/updated tests?
We encourage you to keep the code coverage percentage at 80% and above.
[ ] Yes
[ ] No, and this is why: please replace this line with details on why tests
have not been included
[ ] I need help with writing tests
[optional] Are there any post deployment tasks we need to perform?
[optional] What gif best describes this PR or how it makes you feel?
What type of PR is this? (check all applicable)
Description
The main change in this PR is creating separate threads for the controller and path planner. The reasoning behind this is that currently every time the path planner is running, the controller is inactive causing large jumps.
This should have the benefit of increasing overall controller frequency, and also consistency in the controller.
Related Tickets & Documents
QA Instructions, Screenshots, Recordings
Tested a single buggy sim on my computer and it appears to behave as expected. Tested the double buggy sim and seems to behave as expected on my computer also.
Added/updated tests?
We encourage you to keep the code coverage percentage at 80% and above.
[optional] Are there any post deployment tasks we need to perform?
[optional] What gif best describes this PR or how it makes you feel?