Fixed busy looping in path planning thread in autonsystem.py caused by only sleeping if NAND odom exists. Added logic to only start path planning thread if other buggy exists. Added logic to run the path planning thread at the correct frequency even if the other buggy's position is uninitialized.
Testing, QA instruction
Run roslaunch buggy sim_2d_2buggies.launch and roslaunch buggy sim_2d_single.launch. Both simulations should work correctly and maintain a data rate above ~50 hz in the steering angle topic.
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Description
Fixed busy looping in path planning thread in autonsystem.py caused by only sleeping if NAND odom exists. Added logic to only start path planning thread if other buggy exists. Added logic to run the path planning thread at the correct frequency even if the other buggy's position is uninitialized.
Testing, QA instruction
Run roslaunch buggy sim_2d_2buggies.launch and roslaunch buggy sim_2d_single.launch. Both simulations should work correctly and maintain a data rate above ~50 hz in the steering angle topic.