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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 Bnayahj NAND Telemetry #91

Open mehulgoel873 opened 6 months ago

mehulgoel873 commented 6 months ago

Right now, NAND Telemetry is pretty scuffed, and needs to be properly communicated with firmware.

Currently, only passed in velocity as a singular value, which means that the twist is impossible to calculate, and should be done properly. Additionally, heading calculations needs to be double checked.

Overall, this change has not been mock rolled and not stable, although it is on the main branch.

Suspicious code:

speed = packet.velocity
# TODO: fix this
# why this works: autonsystem only cares about magnitude of velocity
# so setting an arbitrary axis to the speed and leave other at 0
# works. However, this should be done properly ASAP
odom.twist.twist.linear.x = speed
mehulgoel873 commented 6 months ago

This is for ros_to_bnyahaj.py