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UbiquityRobotics / ubiquity_motor

Package that provides a ROS interface for the motors in UbiquityRobotics robots
BSD 3-Clause "New" or "Revised" License
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Reinit mcb on mcb reset #102

Closed mjstn closed 3 years ago

mjstn commented 3 years ago

We had before detected that the MCB had been reset using a system event. We only stated it in the log.

This change when seeing an MCB reset re-initializes the MCB with any ROS parameters that the host would normally have only setup on the MCB at startup. Now a large routine called initMcbParameters() is used.

The next involved change is a lot of variable renames mostly to indicate they are globals in many case. This change will mean there will be merge conflicts.

before the push of this branch did this merge: git merge --no-ff fixJointStateVelocities

rohbotics commented 3 years ago

Mark you will have to rebase this PR. git fetch git rebase origin/kinetic-devel it will complain about conflicts, you will have to manually resolve those.