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Handle change in waypoints (xd) with server #1

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opened 2022-03-18 12:42:41 -03:00 by cesar.alejandro · 0 comments
cesar.alejandro commented 2022-03-18 12:42:41 -03:00
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Currently, there is a ros service which sets the desired waypoints (xd). On start up, refsignal_gen.py requests xd from this server. This only happens once, however. To handle changes in xd, refsignal_gen.py subscribes to status/waypoints as new xd's are published to this topic.

In the future, there should be a node that handles a change of xd and sends a command to refsignal_gen.py to request xd again from thes server.

Currently, there is a ros service which sets the desired waypoints (xd). On start up, refsignal_gen.py requests xd from this server. This only happens once, however. To handle changes in xd, refsignal_gen.py subscribes to status/waypoints as new xd's are published to this topic. In the future, there should be a node that handles a change of xd and sends a command to refsignal_gen.py to request xd again from thes server.
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Reference: cesar.alejandro/oscillation_ctrl#1
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