Test of helming node - Githubissues

This test will be done to try the helming node in more depth here are things to do/remember especially for this test:

[ ] For setting the waypoints, make sure there is a "long" upwind leg
[ ] Read the Helming node wiki page, specially the description of the parameters
[ ] Test only with jibe_to_turn: false, it is less interesting if it is set to true
[ ] Test several values for the exploration_coefficient, maybe start with 0.3 for example and then a test with 0.9 and one with 0.
[ ] If the boat always fails its tacks you can increase the timeout.

Not related to the helming node, but to remember for this test:

[ ] Print the new version of the checklist and follow it ;) (it has been updated)
[ ] Prepare some wiring for the old GPS module (the one with the antenna) in case you see jumps in position again (you can even directly try the old module, it should work better then the other one)
[ ] Try to record what is happening as often as possible with the ~/sailing-robot/recorded_data/notes/log_timed_note.py script (on tabarly or else)
[ ] Make sure you don't have <node name = "sensor_driver_imu" pkg="sailing_robot" type="sensor_driver_imu" respawn="true"/> in the launch file (this is not used since we have the xsens imu, it will crash because the old minimu is not wired)

Maritime-Robotics-Student-Society / sailing-robot