Linear and rotational part as separate maneuvers #95
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MoffKalast
suggested changes
Jun 8, 2021
| double finalYaw = goalYaw - (yaw + requestedYaw); | ||
| if (std::abs(finalYaw) > angularTolerance) { | ||
| if (!rotate(finalYaw, drivingFrame)) { | ||
| return; |
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I think we're missing a actionServer->setSucceeded(); over here, the state still never gets changed from active right now.
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But otherwise it does work 👍
dorkamotorka
commented
Jun 8, 2021
| sleep(localizationLatency); | ||
| } | ||
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| actionServer->setSucceeded(); |
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@MoffKalast this line is setting it as succeeded
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It doesn't seem to get that far apparently. I'm not sure what rotate() gives back at specific times, but I'd imagine it just returns without setting the status in line 503?
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Hmm, yes it could be possible that the boolean we are returning from rotate function is wrong. If you are able to reproduce the issue, reopen it.
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This should solve #94