PR review changes

src/hardware/steering_actuator/config/steering.yaml

@@ -14,7 +14,7 @@ steering_actuator_node:
  centre_range: 2.0
  centre_angle: -8.0
  settling_iter: 50
- max_position: 2000
+ max_position: 8500
  Kp: 10.0
  Ki: 0.0
  Kd: 0.0

src/machines/roscube_machine/launch/machine.launch.py

@@ -76,10 +76,10 @@ def generate_launch_description():
  )
  ),
  ),
- # Node(
- #  package="mission_controller",
- #  executable="mission_launcher_node",
- # ),
+ Node(
+ package="mission_controller",
+ executable="mission_launcher_node",
+ ),
  IncludeLaunchDescription(
  launch_description_source=PythonLaunchDescriptionSource(
  launch_file_path=str(get_package_share_path("sensors") / "launch" / "vlp32.launch.py")

src/navigation/nav_bringup/config/slam_toolbox_params.yaml

@@ -20,7 +20,7 @@ slam_toolbox_node:
  scan_queue_size: 1 # The number of scan messages to queue up before throwing away old ones. Should always be set to 1 in async mode
  use_map_saver: false # Instantiate the map saver service and self-subscribe to the map topic
  # map_start_pose: [0.0, 0.0, 0.0] # Pose to start pose-graph mapping/localization in, if available
- debug_logging: true # Change logger to debug
+ debug_logging: false # Change logger to debug
  throttle_scans: 1 # Number of scans to throttle in synchronous mode
  transform_publish_period: 0.05 # The map to odom transform publish period. 0 will not publish transforms
  map_update_interval: 2.0 # Interval to update the 2D occupancy map for other applications / visualization

src/operations/mission_controller/mission_controller/node_ebs_test_handler.py

@@ -62,10 +62,28 @@ def __init__(self):
  ]
  self.get_logger().info(f"Running Command: {' '.join(command)}")
  cmd = Popen(command)
- command = ["stdbuf", "-o", "L", "ros2", "param", "set", "steering_actuator_node", "max_position", "2000"]
+ command = [
+ "stdbuf",
+ "-o",
+ "L",
+ "ros2",
+ "param",
+ "set",
+ "steering_actuator_node",
+ "max_position",
+ "2000",
+ ]
  self.get_logger().info(f"Running Command: {' '.join(command)}")
  cmd = Popen(command)
- command = ["stdbuf", "-o", "L", "ros2", "launch", "mission_controller", "ebs_test.launch.py"]
+ command = [
+ "stdbuf",
+ "-o",
+ "L",
+ "ros2",
+ "launch",
+ "mission_controller",
+ "ebs_test.launch.py",
+ ]
  self.get_logger().info(f"Running Command: {' '.join(command)}")
  self.process = Popen(command)
  self.get_logger().info("EBS mission started")