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Team-Isaac-Polito / reseq_ros2

High-level ROS2 code to control the ReseQ robot
GNU General Public License v3.0
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Merge gazebo into main branch #5

Closed marc0777 closed 6 months ago

marc0777 commented 1 year ago

The replaced the vel_motor function with a number of diff_drive_controllers, so particular care should be put before merging at ensuring that all values will be still published in the correct topics.

Also, values in both config.yaml and constants.py have been changed to better reflect the next version of the robot - however this repository should have configuration for both of them. Moreover, the address of the modules for the new prototype should start with 0x2, as defined here.

GBergatto commented 1 year ago

I'll take a closer look at the code between this evening and tomorrow morning

Tizio0o0o0o commented 1 year ago

At this point there are 2 version of config.yaml and constants.py, for mk1 and 1 for km2 (config_mk1.yamk, config_mk2.yamk, constants_mk1.py, constants_mk2.py). The one used in comunication.py and agevar.py are from mk2. This might be a solution because it's not so difficult to change them back to mk1 if needed and it should not be changed frequently(?)

About the vel_motor function replaced with a number of diff_drive_controllers, I'm not quite sure about what's the correct way to go, we might talk about it in the next meting. (By the way implementing the original idea in gazebo is quite difficult, I'm not able to do it now)