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Refactor autonomous subsystems #358

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tigressine opened this issue Aug 21, 2020 · 1 comment
Open

Refactor autonomous subsystems #358

tigressine opened this issue Aug 21, 2020 · 1 comment
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@tigressine
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bug cleanup

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@tigressine
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The autonomous subsystem has some problems. I believe a cleanup/refactor will help me understand the subsystem better and also squash some bugs, namely:

  • obstacle-detection node crashes at startup
  • autonomous-control node doesn't die cleanly
  • auto-drive crashes after orienting robot
  • auto-home spins robot and then says it's home, no matter where it's actually positioned
  • autonomous nodes are tied to Gazebo which prevents us from rolling out on real hardware or other sims
@tigressine tigressine self-assigned this Aug 21, 2020
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A few of these issues are small fixes.

For overall refactor, should consider rosactions lib for autonomous routines.

@CSharpRon CSharpRon mentioned this issue Feb 10, 2021
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