Ensure Caffeine + Husky works with all our Packages

erickmu1 commented 4 years ago

Description:

Now that Navigation with LIDAR is coming to a close, we need to ensure all our packages are structured correctly and work both with Husky and Caffeine (in simulation and reality)
NOTE: Given the open ended-ness of this task, add new Goals (issues to solve) below as they appear

Goals: (add as more issues come to light)

Acceptance Criteria:

[x] Husky simulation runs Gmapping, Nav Stack, and robot_localization correctly with no outstanding errors/warnings
[x] Caffeine simulation runs Gmapping, Nav Stack, and robot_localization correctly with no outstanding errors/warnings
[x] ~~Caffeine physical robot runs Gmapping, Nav Stack, and robot_localization correctly with no outstanding errors/warnings~~ will be verified by issue #43
[x] Packages are structured in a consistent fashion with a clear modular design

Notes:

This issue is open ended as to what changes need to be made but should account for enabling packages to be swapped with little has and be easy to maintain
Modular design ensures that adding a new "parameter" minimizes the number of files to be changed

AbiJaya1998 commented 4 years ago

Useful links -

AbiJaya1998 commented 4 years ago

Imp observations

AbiJaya1998 commented 4 years ago

UTRA-ART / SLAM-1920