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sbrodeur / ros-icreate-bbb

ROS (Robotic Operating System) packages for the iRobot Create with onboard BeagleBone Black
BSD 3-Clause "New" or "Revised" License
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Test and optimize autonomous control mode #10

Closed sbrodeur closed 7 years ago

sbrodeur commented 7 years ago

Make sure that autonomous control mode is still working fine: https://github.com/sbrodeur/ros-icreate-bbb/blob/master/src/action/scripts/record/autonomous_control.py

The launch script that records the rosbag should also be adapted to the new topics: https://github.com/sbrodeur/ros-icreate-bbb/blob/master/src/action/scripts/record/record_autonomous.launch

sgcarrier commented 7 years ago

Autonomous control mode works. I had to switch angles from deg to Rad because of the new messages. Also changed the launch file for the new topics.

sbrodeur commented 7 years ago

It seems that only the backward moving when hitting an object needs to be adjusted. The robot should move backward a fixed 3-5 cm (the minimum to clear the bumper).

sgcarrier commented 7 years ago

Again it was an issue of units due to new messages. Changes were done here: 28443bce8ab5f3b4439f175c2a49934f886f263c