Added cmd_vel topic for hardware abstraction. Added msg for thrust topic

berkeleyauv / robosub_ws

All the code used to compete in the Robosub competition

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Closed AVSurfer123 closed 3 years ago

AVSurfer123 commented 3 years ago

Converted the old MotorOutput.py to just publish to the cmd_vel topic.
Added a new velocity_transformer node to convert Twist messages into thrusts for each motor, assuming the Twist is a relative value.
Added a pixhawk_interface to emulate the old MotorOutput by reading form cmd_vel and publishing to Mavros OverrideRCIN

Code is still messy but will be refactored once we split into a new repository.

Closes #45

caelinsutch commented 3 years ago

Plus see codefactor before merging back in