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space-concordia-robotics / robotics-prototype

Teleoperated Mars rover with autonomous capabilities intended for robotics competitions.
https://spaceconcordia.github.io/robotics.html
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Twist 436 #473

Closed MartensCedric closed 3 years ago

MartensCedric commented 3 years ago

Assignee Section

Description

The drive controls have been redesigned with ROS twist commands. This means the rover can work with Gazebo. Unit tests have been added to test this functionality.

Steps for Testing

Local Testing

  1. rosgui, startgui
  2. Open Gazebo with the Husky (You might need to set it up : http://wiki.ros.org/husky_gazebo/Tutorials/Simulating%20Husky
  3. Go to the rover page
  4. Move the rover around WASD

Rover Testing

Do a GIT, if it works, then this works. Make sure you test forward, backward and turning on the spot.

closes #436 The approval from all software team leads is necessary before merging.

Reviewer Section

Aside from local testing and the General Integration Test it is implied that static analysis should be included in the verification process.

For Pull Requests that do not include code changes, it is not required to perform the tests above.

MartensCedric commented 3 years ago

Looks good so far! It's definitely lot cleaner than the old drive controls

it doesnt work yet lol but soon :sunglasses: (hence the draft PR)

VimFreeman commented 3 years ago

In your PR desc you wrote (to edit to explain) :anger: