Just getting started
Making some progress, still lots to do
Made a bunch more progress, but still not ready to test.
More updates... about to leave for the ski trip
First run at getting the launch file setup, and got added some commands
to stop the robots.
A bit of refactoring... things are working okay right now, but the
optimizer is returning errors, and then the controller is going
unstable.
Working on adding publishers for the paths that work.
Getting close to having the receding_controller just use the latched
topics instead of the global params for the operating condition.
Changed a bit of the startup/run logic.
Trying to add the optimization back in.... fixed errors with printing in
optimization.py.
I have a version that I think implements the time-offset correctly. Need
to put in some serious testing now.
Modified initialization logic in receding controller.
Removed some old versions of stuff, and added an arg to launch file to
control noise levels.
Re-worked the initialization procedure for the controller, and modified
the reference_manager.py file to ensure that the initial conditions have
the string length at 1 m
Cleaned up launch file, and found tiny bug in the controller.
Added in publishers for the filtered and reference state and config.
Moved around the publishing. UNTESTED.
Small bug with the new function for publishing stuff.
Modified the logic in the coordinator to always publish once
calibrated. Seems way better. TODO add error handling for when i get
0.000 as the value in object1_position and robot_kinect_positions
Adding in Alex's class for interpolating the configs.