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I'm still doing some testing and there are also still |
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It looks really good! I left some comments addressing hopefully all the TODOs as well as some minor stuff.
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texhnolyze
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texhnolyze
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WIP: Feature: refactor and test team comm
Feature: refactor and test team comm
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But semantically it should still be the map frame. Maybe prefixed by a robot name or something like that. |
as timestamps from headers now need to be converted as the times in messages are not `rclpy.time.Time` classes
for conversion between ros state <-> protobuf <-> team data
opening multiple panes and launching the TeamComm, while also listening and showing messages from other robots
topic, instead of ObstaclRelativeArray on `obstacles_relative` topic, where we do not publish any msgs. Currently the vision produces RobotArray msgs on `robots_in_image`, which are then transformed relative to the `base_footprint` map frame to have relative coordinates based on the running robot's location. This is done in the ipm (inverse projection mapping), which in turn publishes `robots_relative`. For now we totally humans and other obstacles, which could be handled with ObstaclRelative msgs. Currently the TeamData msgs also still contains an ObstaclRelativeArray, because change it would most likely also require changes in the behavior module. This will be done at a later stage. Fixes: #125
intoducing handling of truncated messages if a protobuf message should be larger than 1024 bytes, we then double the buffer size for the next iteration
and other smaller fixes
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This was referenced Jan 23, 2024
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and improve error messages for transform errors
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Flova
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Proposed changes
Major refactoring of team communication including the following:
pytest
andsyrupy
RobotArray
msgs on the/robots_relative
topic, as we never publishObstacleRelativeArray
Related issues
Necessary checks
colcon build