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Make all motor set commands follow proper ros behavior #257

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jmblixt3 opened this issue Jun 16, 2024 · 0 comments · May be fixed by #298
Open

Make all motor set commands follow proper ros behavior #257

jmblixt3 opened this issue Jun 16, 2024 · 0 comments · May be fixed by #298
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@cparece1 @Riyan554
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enhancement New feature or request good first issue Good for newcomers
Milestone
Motor Controllers

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@jmblixt3
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jmblixt3 commented Jun 16, 2024 •
edited by cparece1
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Currently, the MotorCommandSet service immediately returns instead of blocking for the motor command (like set position) to be completed. This is problematic because setting the position of a motor will take an unknown amount of time to complete. So correctly returning a future and using calls to spin_until_future_complete on the client side would solve this issue. The current workaround is a separate watchdog topic for waiting until the position goal is reached, which is a bit overcomplicated and ugly.

KINDA FIXED:
MotorCommandSet for velocity and position SHOULD (untested) not return until they have completed their goal now
TODO:
fix ALL the nodes! start with digger, then drivetrain etc
Test this and make sure it is right, then rewrite all the other nodes so they rely on this (seperate task?)
Isopod00 added a commit that referenced this issue Aug 22, 2024
@Isopod00
Added TODO comments to the skimmer node for #257
f87846c
Isopod00 added a commit that referenced this issue Aug 22, 2024
@Isopod00 @jmblixt3
252-auto-dig-action (#268)
a167519 
* Initial implement of Auto Dig action
Doesn't check if services are running before calling them

* Added comments to CalibrateFieldCoordinates.action

* Made auto_dig_server executable

* Revert the changes previously made to the skimmer node

* Added TODO comments to the skimmer node for #257

* Auto Format

* we don't want to commit these changes

* Deleted the old auto procedures

* Fixed auto_dig_action to match the format of auto_offload_action!

* Deleted some old unused variables

---------

Co-authored-by: Jonathan Blixt <[email protected]>
@jmblixt3 jmblixt3 added enhancement New feature or request good first issue Good for newcomers help wanted Extra attention is needed labels Aug 27, 2024
@jmblixt3 jmblixt3 added this to the Motor Controller's milestone Aug 27, 2024
@cparece1 cparece1 assigned cparece1 and unassigned gracebesser Oct 3, 2024
@Isopod00 Isopod00 removed the help wanted Extra attention is needed label Oct 16, 2024
@Isopod00 Isopod00 linked a pull request Oct 16, 2024 that will close this issue
(WIP) Implemented proper ROS service behavior and modified Auto Dig and Auto Offload logic #298
Draft
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@cparece1 cparece1

@Riyan554 Riyan554

Labels
enhancement New feature or request good first issue Good for newcomers
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Milestone
Motor Controllers
6 participants
@jmblixt3 @Isopod00 @cparece1 @umnrobotics @Riyan554 @gracebesser