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Demo/safe kobuki #17

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Demo/safe kobuki #17

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iluetkeb
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iluetkeb and others added 18 commits February 17, 2020 12:52
@iluetkeb
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23bda37
@iluetkeb
use accessor methods instead of direct access
0753f3c
@iluetkeb
apply safety constraints
536c863
@iluetkeb
formatting
67d6ab7
@JanStaschulat
deleted unused publisher 'robot_pose'
a18a502 
Signed-off-by: Staschulat Jan <[email protected]>
@iluetkeb
check errors from robot
e6638bd
@iluetkeb
remove outdated publisher
c54efde
@iluetkeb
remove debug output
59edee5
@iluetkeb
add safety state info to baseinfo
ca1b43e
@iluetkeb
set safety state based on sensor input
adef65e
@JanStaschulat
Merge branch 'demo/safe_kobuki' of https://github.com/micro-ROS/apps …
ce4bfb3 
…into demo/safe_kobuki
@JanStaschulat
rclc_executor for subscription cmd_vel (tested on Olimex-Board)
0e37e04
@iluetkeb
Fix cliff sensor logic
bee3129
@iluetkeb
Merge branch 'demo/safe_kobuki' of https://github.com/micro-ROS/apps …
02843e9 
…into demo/safe_kobuki
@iluetkeb
maintain RT guarantee by not keeping lock during send
ddaf259
@iluetkeb
fix bitset logic
63f8959
@iluetkeb
count comm errors
cc3696b
@iluetkeb
implement speed limiter
cc4154b
@iluetkeb iluetkeb requested a review from pablogs9 February 19, 2020 13:22
@iluetkeb
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This is a version of the driver that implements very basic safety (testing bumpers and cliff sensors) and limits driving capabilities accordingly. Makes for nicer demos (no falling off tables and no slipping wheels when up against obstacles).

It also uses the RCLC executor.

@iluetkeb iluetkeb requested a review from ralph-lange February 21, 2020 09:20
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@ralph-lange ralph-lange ralph-lange approved these changes

@pablogs9 pablogs9 Awaiting requested review from pablogs9

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3 participants
@iluetkeb @ralph-lange @JanStaschulat