Remove smach from failure identification #628
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qhdwight
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Dec 31, 2023
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Jan 18, 2024
* Refactor lol * Add watchdog * Fix ordering of timer * Remove fused encoder, should be handled by controller * some changes to brushless * testing out websocket with vuex * Add proper clock arr * Wrap in extenr C * I HATE C++ * Dont start in two modes * Not gross * Fixed typo * Added SetDesiredThrottle() in brushless.cpp * SEND WORKS HAHAHAHAHAHAHHAHAHAHAHHAH ty owen beast gl on 281 and 370 yk yeah * Change pdlb receiving from RTOS to interrupts * Watchdog and throttle working * Encoder working :D * Implement proper min and max clamping for brushless and resolve motors manager bug * Resolve TODO * Add more comments * More documentation * Use defines for timers * added can interrupt * Removed TODOs from brushless.cpp as they have been done * changed brushless test bridge to use setDesiredPosition() * initial dirt sensor commit * Properly test pdlb code and make it build * Fix science project to build - comment out broken spectral code * Add FDCAN peripheral filtering * Tested and got to work the brushless controller on the Jetson * Change spectral code in ROS end to include errors * Comments, make it compile * Make projects build and make spectral FW properly call init when not init and send out error * Remove old brushless stuff from esw.yaml * added nav state msg * some changes to brushless * Delete outdated dirt sensor code * Updated sensor code with ros * Added updating of mCurrentPosition, mCurretnVelocity, mErrorState and mState in BrushlessController * Add documentation for SA sensor bridge * guthrie made me * Update science code * adding sempahores for I2C callbacks (wip) * Change motor library to allow for messages that have some invalid names - prepare for Joint DE node * Add test joint de script * Implement better logic for adjustment - still need to implement looping * Set up reading global revolutions * Add globals * Add code to change positions * Make test joint de script use classes * Move watchdog to controllers instead of motors manager * Move everything to have both motor groups and individual motors * Add joint DE bridge node - barely did anything * Test on arm bridge with new config * Add mission specific launch files * Change multiplier to be an explicit float instead of an int * Adjust motors group * Implement joint DE code and fix minor calculation bugs * Allow arm translator to allow position commands when received all necessary data * Fix code to check for the correct names array for processing incoming joint data from hw bridge * Move arm translator bridge into multiple files to be more manageable * Rename from arm translator to joint DE * Add offset * Change code to make pitch and roll output at 8 RPM * Change keyboard mapping to lowercase * trust me * Change * Create make brake * Add prints * Rechange formatting * Fixed the instructions for how to run the brushless controller demo on the laptop and jetson * Add absolute encoder timer in bdcmc * Changed BrushlessController::setDesiredVelocity() to set brake for small velocities * Set brake when position reached * Make code * Recover if in fault state too * Change comments * Fix compile errors * WIP science code. * WIP Science. Builds now. * Start changing absolute encoder transaction to I2C DMA * Rename * Science code builds pt2. * changed default min and max velocity for BrushlessController * fixed joystick mappings * Remove uneeded things from launch file, format consumers, PDB->PDLB * Init * Make nodelet * Launch file * Update * Update * Update * Bind buffers * Update * Shader infra * Add shaders * yo something renders * Touch * Update * Temp * GLB testing * Rendering! * Fix perspective function, bruh WHY is GLM column-major that is so silly! * YO free look working * Separate out fly code * Comments * Fix fly control ty riley, fix embarassing bug in SO3 LOL * Refactor * Update * Add IMGUI, refactor moteus dep * Enter and exit gui * Oops * Fix framerate * Update * Update * Render coliision * Add deps * Fix joints?? * Naming * Bruh moment * Status * Call xacro ourselves on URI * Things rotating * SIM3 * Omg working * Bump * Can init * Bleh * Kinda working lol * Kinda working * Tweak mass values * Switch rocker and bogie * Try generic version * Sigh * Tune mass * Support meshes * IN prog commit * Switch to FBX, textures! * Import meshses properly * Make importing models concurrent * Header refactor * Update * ArUco stuff * Work on render texture * Holy cow it actually works :D * Refactor update loop * Experimenting * less magic nums * In prog * Checkpoint * A bit of refactoring * Fix nav exiting behavior * Pub links to tf tree * Point cloud gen working on CPU * In progress update * In prog commit * Working, but for some reason tag detector misbehaving * Fix flip * Minor updates * Msg consistencies in nav * Full auton mission working! * Comments * In prog update for saving state * YO REWIND WORKING! * Update failure identification to use new state machine messaging (#628) * print init * Remove normal maps for now * Update * Add imgui settings file * Add arm * Arm begin whacky * Wip * Checkpoint * Checkppoint * Checkpoint * Cant tell if things are better or worse... * Kinda working * Lol trying out webgpu for macs * Magenta window lol * imgui working :D * Update * Doing something * OMG mountians rendering with vulkan in linux and metal on macos * Color :D * Texture working! * Input looking good * wip * Update * Constant for depth * Render multiple modesl * Holy it actually works * Spaget code but camera & render texture working * WIP compute changes * PC compute working but inefficient and upside down * PC as fast as possible but dont slow down render * Auton debug course working, flip uvs, fix pc orientation, fix history * Rate limit pc correctly * Add eigen align directives (WTF LOL) to prevent crashing in release mode * Changes for mac * Update imgui to v1.90.1 * Update * Refactor * remove tf_id from Waypoint.msg * Build dawn separately, spin sleep * macos * Add IK code that neven wrote, fix saved transform of base link, disable resize for now * Address std::format issue * minor cmake changes * Start to IK * Fix macos compile * sky blue * Dawn build script * Update * Minor updates * Remove axle, fix compile * Try working on wireframe * Work on render colliders * Collider rendering somewhat working * Increase wheel mass * Add orange hammer, make rover more pretty (thx chloe) * Pick sky value * Clean up compute shader * Work on normal generation * Oops * Working? * Normals actually working I think * Remove misc stuff from merge --------- Co-authored-by: Artyom Boyarov <[email protected]> Co-authored-by: neuenfeldttj <[email protected]> Co-authored-by: qhdwight <[email protected]> Co-authored-by: Anthony Varkey <[email protected]> Co-authored-by: owenpark <[email protected]> Co-authored-by: tabiosg <[email protected]> Co-authored-by: wisabel0 <[email protected]> Co-authored-by: Nate <[email protected]> Co-authored-by: Polishdudealan <[email protected]> Co-authored-by: Emerson-Ramey <[email protected]> Co-authored-by: Emerson-Ramey <[email protected]>
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Summary
Removes the use of smach for getting the current nav state and subscribes to the nav_state topic instead.
Did you add documentation to the wiki?
No
How was this code tested?
I tested this in sim by running the debug_course_publisher.py with the posts and waypoints set up so that the rover gets stuck. With this, I made sure the recovery sequence still executed as expected.
Did you test this in sim?
Yes
Did you test this on the rover?
No
Did you add unit tests?
No