Check yaw rates instead of positions when yoyoing (retargeted #124 to main) #133
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Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
This PR depends on #89, #96. Recommended review order is #89 > #96 > this PR. If we want I can cherry pick this branch as the changes are independent of the underlying code. The merge order should be this PR > #96 > #89. There is a slight change in the center of rotation of the yoyo mission with #96. This leads to test expectations failing. Rather than use position to check whether the vehicle is yoyoing, I think we should use @tfoote's suggestion and use yaw rate which makes the test independent of the center of rotation and hence more robust while at the same time ensuring that the vehicle actually moves in a circle. Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
Signed-off-by: Louise Poubel <louise@openrobotics.org>
This was referenced Jan 5, 2022
arjo129
approved these changes
Jan 6, 2022
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I cherry-picked the commits from #124 onto
mainso it can be merged faster and we don't need to wait for #89 and #96.The only difference in the test here from #124 is a higher tolerance for the yaw rate (2e-2 instead if 2e-3). I left a TODO there so we reduce the tolerance after those PRs get in.