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v0.2.0

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@bgoldfai bgoldfai released this 01 Aug 18:39
· 5 commits to master since this release

Includes new controller for AutoRally chassis version 1.0+ and migrates to new chassis message interface, including the simulation.

Old interface:
autorally_msgs::safeSpeed->servoInterface
autorally_msgs::servoCommand->servoInterface
arduinoOnboard->autorally_msgs::wheelSpeeds
arduinoOnboard->autorally_msgs::servoCommand RC signals read from receiver

The redesigned interface:
autorally_msgs::chassisCommand->autorally_chassis to control actuators
autorally_msgs::runstop->autorally_chassis for software runstop messages
autorally_chassis->autorally_msgs::chassisState for chassis state including commanded values, who is commanding each actuator, and feedback from ESC
autorally_chassis->autorally_msgs::wheelSpeeds
autorally_chassis->autorally_msgs::chassisCommand for RC signals read from receiver

Known issues (on hardware):

  • once every few seconds the RC inputs are read a 0. This seems to be an issue with the arduino (autorally_chassis.ino)
  • The BEC sometimes browns out with rapid movement of the steering servo, even with the glitch cap installed. We believe this issue has to do with the Mamba XL-X, further debugging is needed.