Refactor autonomous subsystems

FlaSpaceInst / EZ-RASSOR

An inexpensive, autonomous, regolith-mining robot

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Refactor autonomous subsystems #358

Open tigressine opened 3 years ago

tigressine commented 3 years ago

The autonomous subsystem has some problems. I believe a cleanup/refactor will help me understand the subsystem better and also squash some bugs, namely:

obstacle-detection node crashes at startup
autonomous-control node doesn't die cleanly
auto-drive crashes after orienting robot
auto-home spins robot and then says it's home, no matter where it's actually positioned
autonomous nodes are tied to Gazebo which prevents us from rolling out on real hardware or other sims

tigressine commented 3 years ago

A few of these issues are small fixes.

For overall refactor, should consider rosactions lib for autonomous routines.