Fix bugs in manager, gui, pxrf and antenna offsets

robomechanics · May 2, 2024 · 0878a52 · 0878a52
1 parent ce37ba4
commit 0878a52
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Showing 4 changed files with 14 additions and 6 deletions.
diff --git a/README.md b/README.md
@@ -59,9 +59,14 @@ COM -> IMU                  (-0.0162, -0.0953, +0.0074)
   y = 114 - 18.72 => 95.28 mm
   z =             => 7.37  mm
 
+IMU -> FRONT_ANTENNA        (0.1746+0.0162, 0.1547+0.0953)
+IMU -> FRONT_ANTENNA        (0.1908,0.25)
 
-IMU -> FRONT_ANTENNA        (+0.1604, +0.2160, -0.0074)
-IMU -> BACK_ANTENNA         (-0.1108, -0.0347, -0.0074)
+IMU -> BACK_ANTENNA         (0.189-0.0162, 0.1547-0.0953)
+IMU -> BACK_ANTENNA         (0.1728, 0.0594)
+
+OLD IMU -> FRONT_ANTENNA        (+0.1604, +0.2160, -0.0074)
+OLD IMU -> BACK_ANTENNA         (-0.1108, -0.0347, -0.0074)
 ```
 
 ### Topics

diff --git a/autonomy_manager/src/manager.py b/autonomy_manager/src/manager.py
@@ -80,6 +80,8 @@ def __init__(self):
         )
 
         # intialize adaptive sampling class and conversion class
+        self.pxrf_complete = False
+        self.pxrf_mean_value = None
         self.adaptiveROS = None
         self.gridROS = None
         self.conversion = Conversion()
@@ -198,6 +200,7 @@ def run(self):
 
     def run_loop_callback(self, data):
         self.run_loop_flag = True
+        return TriggerResponse(True, "SUCCESS")
 
     def load_ros_params(self):
         # Load topic names into params
@@ -358,6 +361,7 @@ def publish_move_base_goal(self, lat, lon):
 
         if not self.is_arm_in_home_pose:
             rospy.logerr("Arm is not in home pose, will not publish move_base goal!")
+            self.update_status("ERROR")
             return
 
         #TODO: Orientation for goal

diff --git a/pxrf/scripts/pxrf_handler.py b/pxrf/scripts/pxrf_handler.py
@@ -7,7 +7,6 @@
 from autonomy_manager.srv import Complete
 import os
 from sensor_msgs.msg import NavSatFix
-from datetime import date
 import csv
 import time
 from tf.transformations import euler_from_quaternion
@@ -132,7 +131,7 @@ def data_listener(self, data: PxrfMsg):
             self.scanning = False
 
             # get ros and system time
-            self.system_time = str(datetime.datetime.now())
+            self.system_time = str(datetime.now())
             self.ros_time = rospy.Time.now()
 
             # record and process received response

diff --git a/robo_nav/launch/gq7_odom.launch b/robo_nav/launch/gq7_odom.launch
@@ -16,9 +16,9 @@
   <arg name="filter_relative_position_ref"    default="[0.0, 0.0, 0.01]" doc="Reference position. Units dictated by filter_relative_position_frame" />
 
   <arg name="gnss1_antenna_offset_source" default="1"                doc="GNSS1 antenna offset source selector" />
-  <arg name="gnss1_antenna_offset"        default="[0.1746, -0.1547, -0.0074]"  doc="GNSS1 antenna offset. Only used if gnss1_antenna_offset_source is set to 1" />
+  <arg name="gnss1_antenna_offset"        default="[0.1908,-0.2500,-0.0074]"  doc="GNSS1 antenna offset. Only used if gnss1_antenna_offset_source is set to 1" />
   <arg name="gnss2_antenna_offset_source" default="1"                doc="GNSS1 antenna offset source selector" />
-  <arg name="gnss2_antenna_offset"        default="[-0.189, 0.1547, -0.0074]" doc="GNSS1 antenna offset. Only used if gnss1_antenna_offset_source is set to 1" />
+  <arg name="gnss2_antenna_offset"        default="[-0.1728, 0.0594, -0.0074]" doc="GNSS2 antenna offset. Only used if gnss2_antenna_offset_source is set to 1" />
 
   <arg name="filter_auto_heading_alignment_selector" default="1" doc="Filter initialization auto-heading alignment selector" />