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suxing304 / atrias

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Clean up robot state #158

Closed GoogleCodeExporter closed 8 years ago

GoogleCodeExporter commented 8 years ago 
The robot state currently includes duplicate values and values that aren't 
used. We should remove dependence on these values so as to shrink the size of 
the robot state message.

Michael, one think I'd like to do is to remove the commandedOutput field from 
the RT Ops Cycle message. This will require the GUI to clamp the values itself 
according to the defines in robot_invariant_defs.h

Original issue reported on code.google.com by jrvanwhy on 17 Dec 2012 at 11:43

GoogleCodeExporter commented 8 years ago 
One more thing -- instead of separate InsideLimitSwitch, OutsideLimitSwitch, 
LegLengthLimitSwitch, ... values, we should just use the uint8 combined values.

Original comment by jrvanwhy on 17 Dec 2012 at 11:45

GoogleCodeExporter commented 8 years ago 
There is now a plan to alleviate this issue by only logging select parts of the 
robot state. Soo-Hyun is working on this, so I'm giving him this issue.

Original comment by jrvanwhy on 27 Dec 2012 at 8:46

GoogleCodeExporter commented 8 years ago 
The robot state is cleaner now, and the logging issue has been solved another 
way. Closing.

Original comment by jrvanwhy on 27 Mar 2013 at 12:01