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NUbots / NUWebots

Environment, models, and communication for using the Webots simulation with NUbots
MIT License
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Fix up the nugus controller and add ground truth odometry information to the message for testing #95

Closed ysims closed 1 year ago

ysims commented 2 years ago

nugus_controller is pretty much broken on main. This PR copies the RoboCup Player controller and uses that instead. The code is pretty yikes, but it works. If this gets merged in, I'll make an issue to improve the code.

This PR also adds in ground truth odometry information. It tracks the position and orientation of the robot as it moves in webots, and sends this information back to the robot. This allows us to see the error in odometry in real time in Webots.

NUbots/NUbook#246 NUbots/NUbots#873

ysims commented 2 years ago

Updated it again and tested it. There is an annoying part where I think the angles wrap around sometimes in the chart.