Integrate proximity beacon

cvra / goldorak

Project Goldorak, CVRA's small robot for Eurobot 2016, running ROS

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Closed SyrianSpock closed 8 years ago

SyrianSpock commented 8 years ago

This PR implements the following:

Proximity beacon firmware update via Fabric
A driver for the proximity beacon opponent detection that publishes opponent position in polar coordinates relative to the robot and a TF
A basic obstacle avoidance behavior that stops when an opponent is detected

SyrianSpock commented 8 years ago

I'd like to test the TF publisher on the robot before merging. Everything else was tested on hardware.

SyrianSpock commented 8 years ago

I think we should publish the TF outside of the driver (separate nodelet), I'll implement it later. We can merge this. @antoinealb ok ?