Localization - #311
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SuperIronDragon wants to merge 8 commits into
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…to replace a library for full functionality. Also readd erroneously deleted pose_filter files. Was unable to test because my environment is cooked, pls send help D:
- can maybe add a bit more about adding the imu subscriber [like having them edit the hpp file or do a bit of work in the callback] but this is probably fine for now?
fuck my life i changed the wrong files -_-
Not completely sure everything is correct - specifically my changes to the launch and CMake files, as well as typings like SE3 and publishing it (how do I specify which frame we're publishing to?)
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I have reverted the old changes and converted the original localization.py file into c++. I have yet to add any real changes to the content of the starter project, as I figured it'd be better to first get it into c++ before changing anything about what new members are going to be doing. Now that I've converted to c++, while I'm waiting on review (I don't doubt that the c++ version has a few errors), I'll try to think of something new for them to do - if they aren't going to be writing sphericalToCartesian, I'll see if I can think up another task of similar difficulty. @SiddhantRBohra if you can take a look at the new c++ version that would be great |
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Summary
Does not close an issue (afaik)
What features did you add, bugs did you fix, etc?
Biggest change was converting the gps_linearization.py file into c++, but also added comments showing which parts of the code will be omitted when given to new members for doing the starter project.
Did you add documentation to the wiki?
Not yet - I plan to make a video demonstrating how to go about doing the starter project, as well as updating the localization starter project area on the wiki, but I wanted to ensure everything was finalized before doing so because I didn't want to have to change it again. Also, I can't really make a video on it yet because my development environment is cooked atm and doesn't run the sim.
How was this code tested?
I would have liked to test the code in sim, but again, my dev environment is not fully functional right now - I would like to meet with a more experienced member of the team at some point to get this fixed, as my current understanding of how everything works is very surface-level.
Did you test this in sim?
No
Did you test this on the rover?
No
Did you add unit tests?
No - I don't really know the procedure on how or where to add unit tests? I searched the wiki and nothing came up?