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QUT-Motorsport / QUTMS_Driverless

Welcome to the QUTMS Driverless team repository, used to develop perception, planning and control pipelines in ROS2 for a driverless FSAE racecar
MIT License
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Canopen steering tweaks #286

Closed b1n-ch1kn closed 11 months ago

b1n-ch1kn commented 11 months ago

What type of PR is this? (check all applicable)

[required] Description

This does 2 things mainly:

  1. Fixes ROS 2 can msg bottlenecks by splitting topics for canbus (VCUs) and canopen (DVL equipment)
  2. Adjusts the steering actuator boot up, config and state setting to make it more consistent and less spammy.

[required] Documentation

Lots to come (kinda)

[optional] Usability concerns or breaking changes?

Old steering nodes are still around and work if we need to revert or test.