updated code from science:

Author: umroverPerception

config/esw.yaml

@@ -311,7 +311,7 @@ brushed_motors:
       limit_1_readjust_position: 0.2452 # meters
       quad_ratio: 48.0 # encoder ratio compared to motor
       driver_voltage: 10.0 # used to calculate max pwm
-      motor_max_voltage: 6.0 # used to calculate max pwm
+      motor_max_voltage: 12.0 # used to calculate max pwm
       min_velocity: -1.0
       max_velocity: 1.0
       min_position: 0.0
@@ -360,7 +360,7 @@ brushed_motors:
       limit_0_readjust_position: 0.0 # radians
       limit_1_readjust_position: 0.0 # radians
       quad_ratio: 48.0 # encoder ratio compared to motor
-      driver_voltage: 11.0 # used to calculate max pwm
+      driver_voltage: 8.0 # used to calculate max pwm
       motor_max_voltage: 12.0 # used to calculate max pwm
       calibration_throttle: 0.5  # throttle during calibration
     sensor_actuator:

launch/jetson_base_cameras.launch

@@ -10,15 +10,15 @@
     <param name="height" value="720"/>
   </node>
 
-  <node pkg="mrover" type="gst_websocket_streamer" name="mobility_streamer"
+  <!-- <node pkg="mrover" type="gst_websocket_streamer" name="static_streamer"
         output="screen">
     <param name="dev_path" value="/devices/platform/3610000.xhci/usb1/1-2/1-2.4/1-2.4.3"/>
     <param name="port" value="8082"/>
-  </node>
+  </node> -->
 
-  <!-- <node pkg="mrover" type="gst_websocket_streamer" name="static_streamer"
+  <node pkg="mrover" type="gst_websocket_streamer" name="mobility_streamer"
         output="screen">
     <param name="dev_path" value="/devices/platform/3610000.xhci/usb1/1-2/1-2.4/1-2.4.4"/>
     <param name="port" value="8083"/>
-  </node> -->
+  </node>
 </launch>

src/perception/panorama.py

@@ -87,14 +87,14 @@ def capture_panorama(self, goal: CapturePanoramaGoal):
         # TODO: Don't hardcode or parametrize this?
         current_angle = 0
         stitched_pc = np.empty((0, 8), dtype=np.float32)
-
+        goal.angle = 1.0
         while current_angle < goal.angle:
             # current_pos
             # calculate angle
             rospy.loginfo("rotating mast...")
             time_start = rospy.Time.now()
             while rospy.Time.now() - time_start < rospy.Duration(1.5):
-                self.mast_throttle.publish(Throttle(["mast_gimbal_z"], [1.0]))
+                # self.mast_throttle.publish(Throttle(["mast_gimbal_z"], [1.0]))
                 rospy.Rate(10).sleep()
 
             self.mast_throttle.publish(Throttle(["mast_gimbal_z"], [0.0]))