Created ability to namespace the frame IDs of messages published by the MCU. #38
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This prepends a namespace to the FrameIDs of IMU and GPS messages coming from the Jackal motor control unit. The prepended namespace is the namespace of the node.
…obot odomety resets to zero upon restart of the node. Previously, old state information would be retained, leading to incorrect localization behavior.
| /* | ||
| * Copyright (C) 2021, The University of Texas at Austin | ||
| * Robert Blake Anderson <blakeanderson@utexas.edu> | ||
| * | ||
| * This program is free software: you can redistribute it and/or modify | ||
| * it under the terms of the GNU General Public License as published by | ||
| * the Free Software Foundation, either version 3 of the License, or | ||
| * (at your option) any later version. | ||
| * | ||
| * This program is distributed in the hope that it will be useful, | ||
| * but WITHOUT ANY WARRANTY; without even the implied warranty of | ||
| * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | ||
| * GNU General Public License for more details. | ||
| * | ||
| * You should have received a copy of the GNU General Public License | ||
| * along with this program. If not, see <http://www.gnu.org/licenses/>. | ||
| */ |
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For legal reasons we cannot accept PRs that contain GPL-licensed code. You're welcome to maintain your own fork that is dual-licensed, but the GPLv3 is unfortunately not compatible with our software releases.
By default we use the BSD 3-clause license for all open-source Clearpath ROS packages.
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This message had slipped by me, but I see it now since we're discussing that other issue. After looking into it, I am allowed to re-license this under BSD. Expect a commit shortly.
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Thanks for submitting this pull-request. For clarification, the goal here is to allow multiple robots to operate with a single, external, shared ROS master? Normally the Jackal is intended to operate with a local ROS master running inside the robot. If multiple robots need to communicate, we typically suggest a multi-master system, such as the one discussed here: http://wiki.ros.org/multi_jackal_tutorials |
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Yes, we're running the jackal and another robot on a single master. This adds a namespace to the frame IDs of the topics that originate on the motor controller, so that the IMU and GPS frames of the two robots are distinguished. |
This addresses the problem described in #36