Fixes ODOM bug and modifies way we set wheel type to safer system.

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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Fixes ODOM bug and modifies way we set wheel type to safer system. #87

Closed mjstn closed 4 years ago

mjstn commented 4 years ago

The REG_HW_OPTIONS register becomes read only so the write support to that reg is removed.
A new setWheelType interface is added to be able to set 'thin' or 'standard' wheel_type in yaml file.

These things allow full support for wheel type AND fix bug for ODOM introduced by earlier attempt to support thin wheels.

mjstn commented 4 years ago

Darn, I never hit the actual 'Request' button till just now. This has been ready for over a day. Nuts.

rohbotics commented 4 years ago

@mjstn There is a merge conflict. Please rebase your changes on top of the master branch and resolve the conflicts.

mjstn commented 4 years ago

have compared what is now in mayV37Changes with my earlier copy of full ubiquity_motor and they look to be same. Thank you for working on sorting out the 'evil mess' I made. It is a lesson I hope to remember.

So is this then ready for review / approval as next step and is able to be merged OR is there a need still to form a totally clean version from a fresh and pulled kinetic-devel? I will do that if it is still required and use totally different branch name of course.

mjstn commented 4 years ago

Finally merging this. I will NEVER EVER again use a branch twice for two pull requests!!!!!!