PittSailbot / Sailbot

University of Pittsburgh's Sailbot Club (2019-2025)! Competing at the annual International Robotic Sailing Regatta. https://www.sailbot.org/

https://pittsailbot.github.io

Other

4 stars 1 forks source link

Restructure 2 Electric Boogaloo #39

Closed aaron4522 closed 9 months ago

aaron4522 commented 9 months ago

Finally ported core boat functionality to ROS. Closes #24 and Restructure milestone.

Major Changes

ROS2-everything ;0
- Except ODrive and Object detection (not necessary?)
main.py is deprecated, sensors are now independent
- RC done by transceiver
- Runtime command execution to be added #40
Updated transceiver and teensy to work with new RC controller
Added basic water level sensor code #7
Protobuf stem (thanks Tom ;))

To do

Planned future changes, but nothing code-breaking.

ROSify camera #38
ROSify events (WIP by Tom)
Add protobuf support to Teensy #28
Update broken tests #11
Prune compass.py
Prune windvane.py
Add custom ROS .msg types

To Test:

[x] Transceiver reads from controller on pi
[x] GPS reads (no gps available in room)
[x] Compass reads
[ ] Windvane reads
[ ] Boat correctly controls sail/rudder movement
[ ] Boat works from launch file