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cvra / robot-software

CVRA monorepo - All software running on our bots lives here
MIT License
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Add a service that sends position to ally over UDP #222

Closed antoinealb closed 5 years ago

antoinealb commented 5 years ago

Since we have UDP over UWB (UoU) we now effectively have our position sent over UWB. I need to write a client (receive side) for it.

How to test: Flash it, and then change the /ip/ally_address config key to point to your laptop (either over UWB/CAN or via Ethernet). You can then use tools/log_udp_protobuf/log_ally_position.py script to listen for position messages.

@SyrianSpock You can either merge as-is or once I implement the RX side. I have no time to do it today, but it should be done tomorrow night.

antoinealb commented 5 years ago

So this is now complete, with both sending the position to the other robot and receiving position information and publishing it on /ally_pos. Was tested on my desk, using Ethernet instead of UWB, and it worked. So if @SyrianSpock or anybody wants to integration test it, please do, I dont have access to the bot.