Tipdetection - #676
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Summary
Closes #675
What features did you add, bugs did you fix, etc?
Added tip detection for the rover using TF tree data
Did you add documentation to the wiki?
No (If not explain why not)
Will do later
How was this code tested?
Summarize how you tested this code. Your objective here is to prove to the reviewers that this code actually works without them having to run it themselves. It is often helpful to include screenshots, tables, graphs, and/or a short write-up of testing procedures. Results can be either from sim, the robot, or both depending on what you think is sufficient for the feature you added.
Tested in the sim, manually making the rover tip over and seeing when the code returned true(that it is tipping). Also tested with the rover running by itself, into a tipping predicament to see when it reported itself to be tipping.
Did you test this in sim?
Yes
Did you test this on the rover?
No
Did you add unit tests?
No (If not explain why not)