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CMU-Robotics-Club / RoboBuggy2

A complete re-write of the old RoboBuggy.
GNU General Public License v3.0
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Ros to Bnyahaj contains extraneous debug topics #90

Open mehulgoel873 opened 4 months ago

mehulgoel873 commented 4 months ago

The current code includes publishers for a large amount of debug topics, that don't actually exist for NAND (Should be fact checked, but I don't believe they exist)

Thus, these may not be accurately logged for NAND and could cause potential issues. Ideally both SC and NAND should have feature parity on Debug topics, and if not possible, we should make sure that NAND does not break this

The following code in ros_to_bnyahaj.py (within init):

self.rc_steering_angle_publisher = rospy.Publisher(self_name + "/buggy/debug/rc_steering_angle", Float64, queue_size=1)
self.steering_angle_publisher = rospy.Publisher(self_name + "/buggy/debug/steering_angle", Float64, queue_size=1)
self.battery_voltage_publisher = rospy.Publisher(self_name + "/buggy/debug/battery_voltage", Float64, queue_size=1)
self.operator_ready_publisher = rospy.Publisher(self_name + "/buggy/debug/operator_ready", Bool, queue_size=1)
self.steering_alarm_publisher = rospy.Publisher(self_name + "/buggy/debug/steering_alarm", Bool, queue_size=1)
self.brake_status_publisher = rospy.Publisher(self_name + "/buggy/debug/brake_status", Bool, queue_size=1)
self.use_auton_steer_publisher = rospy.Publisher(self_name + "/buggy/debug/use_auton_steer", Bool, queue_size=1)
self.rc_uplink_qual_publisher = rospy.Publisher(self_name + "/buggy/debug/rc_uplink_quality", UInt8, queue_size=1)
self.nand_fix_publisher = rospy.Publisher(self_name + "/buggy/debug/nand_fix", UInt8, queue_size=1)