search

UbiquityRobotics / ubiquity_motor

Package that provides a ROS interface for the motors in UbiquityRobotics robots
BSD 3-Clause "New" or "Revised" License
25 stars 24 forks source link

Adds support for host to know if firmware is using options tied to th… #68

Closed mjstn closed 5 years ago

mjstn commented 5 years ago

Enables host to see hardware options from a new message from firmware.
Host can now detect option that hardware is using 6-state encoders and then this host code adjusts odometry for proper tics to radians values so that odometry is correct. Lastly we change the warning for unrecognized message from firmware so it is now a ROS_WARN_ONCE. Meant to do this last time but did not do it then. This host code will support legacy firmware or newer 6-state encoder enabled firmware.

rohbotics commented 5 years ago

@mjstn Is this ready for re-review?