minor cleanup

rb_ws/src/buggy/scripts/2d_sim/controller_2d.py

@@ -51,6 +51,5 @@ def set_velocity(self, vel: float):
     rate = rospy.Rate(5)
     i = 0
     while not rospy.is_shutdown():
-        controller.set_velocity(15)
         rate.sleep()
 

rb_ws/src/buggy/scripts/2d_sim/velocity_ui.py

@@ -1,13 +1,9 @@
 #! /usr/bin/env python3
-import numpy as np
 import rospy
 import sys
 from controller_2d import Controller
-from std_msgs.msg import Float64
 import threading
-import math
 import tkinter as tk
-import keyboard
 
 class VelocityUI:
 
@@ -34,10 +30,13 @@ def __init__(self, init_vel: float, buggy_name: str):
 
 
     def step(self):
+        """sets velocity of buggy to the current scale value 
+            called once every tick
+        """
         self.root.update_idletasks()
         self.root.update()
         '''Update velocity of buggy'''
-        self.buggy_vel = self.scale.get()/10
+        self.buggy_vel = self.scale.get()/10 # so we can set velocity with 0.1 precision
         self.controller.set_velocity(self.buggy_vel)
 
 

rb_ws/src/buggy/scripts/auton/autonsystem.py

@@ -53,7 +53,8 @@ def __init__(self, trajectory, controller, brake_controller, buggy_name, is_sim)
             rospy.Subscriber(buggy_name + "/nav/odom", Odometry, self.update_msg)
 
 
-        rospy.Subscriber("nav/odom", Odometry, self.update_msg)
+        rospy.Subscriber(buggy_name + "nav/odom", Odometry, self.update_msg)
+
         self.covariance_warning_publisher = rospy.Publisher(
             buggy_name + "/debug/is_high_covariance", Bool, queue_size=1
         )