Sim motor timeouts #30
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jbrhm
reviewed
Nov 4, 2024
jbrhm
approved these changes
Nov 26, 2024
alisonryckman
approved these changes
Dec 2, 2024
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good to merge! |
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Summary
closes #44
What features did you add, bugs did you fix, etc?
Added motor timeouts to the arm in the simulator to better mimic the real rover.
Did you add documentation to the wiki?
No
How was this code tested?
Tested by publishing to
/arm_ikwithros2 topic pub --once /arm_ik mrover/msg/IK "{target: {header: {frame_id: 'arm_base_link'}, pose: {position: {x: 0.382, y: 0.01, z: -0.217}, orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}}}}"(arm moves briefly before timing out, as expected).Did you test this in sim?
Yes
Did you test this on the rover?
N/A
Did you add unit tests?
No