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simplify config structure #757

Merged
merged 1 commit into from
May 3, 2018
Merged

simplify config structure #757

merged 1 commit into from
May 3, 2018

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@fmessmer fmessmer commented Apr 27, 2018 •
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this is a backport of some simplifications/unifications/parameter_updates we did in unity_robots which improve daily robot performance and also simplifies robot configuration (mostly by using symlinks rather than needing to copy full files)

it will also bring in a few new features such as the scan_unified_ranged discussed in #732

@fmessmer fmessmer force-pushed the migrate_unity_structure branch 27 times, most recently from 6967af3 to 0f34eb1 Compare April 28, 2018 16:19
@fmessmer fmessmer changed the title [WIP] simplify config structure simplify config structure Apr 28, 2018
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fmessmer commented Apr 28, 2018 •
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This is good to merge now!

I verified all my changes by comparing before and after using roslaunch-dump by @ipa-mdl
I did this to the best of my belief!

However, it is made over-complicated by old hardware and/or not sticking to the scheme when a new robot was set up in the past...in particular, flexisoft settings are a mess!
I resolved this by now considering our latest robots cob4-13 and cob4-16 to be the standard for future robots...those configs were used as templates/targets for the symlinks...
In case an old robot is not conform with the new standard, such robot keeps his own copy of a config file rather than using a symlink...

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fmessmer commented Apr 28, 2018 •
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I think testing this on cob4-7 (Paul Stuttgart) and cob4-13 (Cardiff - not yet shipped) should be good enough as a final test...
@HannesBachter could you help here?

Maybe @ipa320/navigation-push could try this on cob4-18 (323)

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fmessmer commented Apr 28, 2018 •
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ToDo: fix roslaunch-checks for cob_default_robot_config
done

@fmessmer fmessmer force-pushed the migrate_unity_structure branch 2 times, most recently from 79f92ac to 6485589 Compare May 3, 2018 06:51
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fmessmer commented May 3, 2018 •
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tested on cob4-7
unfortunately, cob4-13 is shipped already
I will do one more test with cob4-10 (which recently got a hw update - not yet proposed as a pr yet)
cob4-10 has not disk space anymore...thus, is currently not operable...

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fmessmer commented May 3, 2018 •
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I did these changes to the best of my knowledge...always double-checking the before-after roslaunch-dump results for each robot...

I cannot guarantee that minor yaml adjustments might need to be made by one or the other robot...where the real hardware differs from the standard...but as I do not have access to all those robots...this needs to be done when those robots are updated the next time...e.g. cob4-10, raw3-1

as no one ever reviews prs in this repo except me and TravisCI, I'm going to merge

@fmessmer fmessmer merged commit 017db91 into ipa320:indigo_dev May 3, 2018
@fmessmer fmessmer deleted the migrate_unity_structure branch May 3, 2018 08:24
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