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Commits on Feb 18, 2023
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fix(team_comm): checking for expired msg data
as timestamps from headers now need to be converted as the times in messages are not `rclpy.time.Time` classes
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test(team_comm): unit and syrupy snapshot tests
for conversion between ros state <-> protobuf <-> team data
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test(team_comm): add tmux testing script
opening multiple panes and launching the TeamComm, while also listening and showing messages from other robots
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fix(team_comm): switch to RobotArray msgs on
robots_relative
topic, instead of ObstaclRelativeArray on `obstacles_relative` topic, where we do not publish any msgs.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
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refactor(team_comm): communication code review
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
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refactor(team_comm): code review optional typings
and other smaller fixes
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Commits on Feb 21, 2023
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fix(team_comm): transform to "map" frame in test script
and improve error messages for transform errors
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Commits on Feb 23, 2023
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