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morse-simulator / morse

The Modular OpenRobots Simulation Engine
http://morse-simulator.github.io/
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Cleanup wheeled robot #694

Closed adegroote closed 8 years ago

adegroote commented 8 years ago

This set of commits simplify a lot wheeled robots, and kill some non-needed specificities. It prepares terrain for different kind of PhysicalRobot.

adegroote commented 8 years ago

Can I assume I can merge it after integrating your comment fix ?

severin-lemaignan commented 8 years ago

Well, I'm not familiar with this part of MORSE... Maybe @pierriko can give it a better look?

PierrickKoch commented 8 years ago

I'll have a look during the day

PierrickKoch commented 8 years ago

It's OK for me.

The robot tests might need some fix, but they were already broken. testing/robots/segway/two_segways.py passes, others fails, but no changes. Pioneer3DX test still fails as well.

======================================================================
FAIL: test_vw_controller (__main__.Pioneer3DXTest)
----------------------------------------------------------------------
Traceback (most recent call last):
  File "testing/robots/pionner3dx/pionner3dx_testing.py", line 73, in test_vw_controller
    self.assertAlmostEqual(coord, 0.0, delta=0.05)
AssertionError: 0.1233196035027504 != 0.0 within 0.05 delta

======================================================================
FAIL: test_vw_controller (__main__.Pioneer3DXTest)
----------------------------------------------------------------------
Traceback (most recent call last):
  File "testing/robots/pionner3dx/pionner3dx_testing.py", line 73, in test_vw_controller
    self.assertAlmostEqual(coord, 0.0, delta=0.05)
AssertionError: 0.09353667497634888 != 0.0 within 0.05 delta

----------------------------------------------------------------------
adegroote commented 8 years ago

I know about pionner test (but the situation is the same in 1.4). It seems to work by applying an initial rotation (like -0.10 radian on yaw) through I don't committed this hack :) I don't understand yet from where come this rotation.

adegroote commented 8 years ago

Merged