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Segbot drivers need to publish diagnostic messages #14

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piyushk opened this issue May 18, 2013 · 1 comment

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piyushk commented May 18, 2013

segway_rmp should publish diagnostic messages if:

Not connected to segway base
Segway base does not move even when velocities are sent. This usually happens when the segway base is started before the laptop.

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jack-oquin commented Jun 18, 2015

We have recently seen a segway base gradually failing.

It would help to log the kinds of errors it accumulated:

frequent checksum errors from the USB port
infrequent large jumps in location reported by odometry

ref: utexas-bwi/bwi#21

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