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Raise alarm if calib data can't be loaded on multi-group systems with TF enabled #169

Merged
merged 6 commits into from
Mar 1, 2024
Merged

Raise alarm if calib data can't be loaded on multi-group systems with TF enabled #169

merged 6 commits into from
Mar 1, 2024

Commits on Mar 1, 2024

  1. refactor: new function to load calib data

    @gavanderhoorn
    gavanderhoorn committed Mar 1, 2024
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  2. Add 'missing calibration warning' cfg item 

    Allow user to disable raising an alarm in case a multi-group system has
not been calibrated, but TF broadcast is still enabled (in which case
group origins will be wrong).
    @gavanderhoorn
    gavanderhoorn committed Mar 1, 2024
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  3. Raise alarm in case none of the calib files loaded 

    Note: as mentioned in the comments, it's perfectly OK for multi-group
systems to not have been calibrated. Whether or not calibration
succeeded to load is therefore not taken into account when determining
whether controller initialisation was successful or not (`bInitOk`).

But, in case TF broadcasts are enabled, uncalibrated groups
(specifically: robots) will have their origins coincident, which will
(most likely) not be representative of their physical configuration (ie:
in case those groups are different manipulators, those will not occupy
the same physical space).

In those cases an alarm is raised to notify the user of this potential
misconfiguration.

But only if the alarm hasn't been disabled by user configuration.
    @gavanderhoorn
    gavanderhoorn committed Mar 1, 2024
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  4. Document new alarm (8013[16])

    @gavanderhoorn
    gavanderhoorn committed Mar 1, 2024
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  5. Add tests for ShouldWarnNoCalibDataLoaded(..) 

    Initial set to encode assumptions.
    @gavanderhoorn
    gavanderhoorn committed Mar 1, 2024
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  6. Disable ctrlr-crashing tests (for now) 

    Need to diagnose the crashes.
    @gavanderhoorn
    gavanderhoorn committed Mar 1, 2024
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