Enhance UI and communication with recovery mode and debugging features by WiseL00k · Pull Request #307 · rm-controls/rm_control

WiseL00k · 2026-05-01T04:17:56Z

No description provided.

…covery' mode

…meters

# Conflicts: # rm_common/include/rm_common/decision/power_limit.h

…tialization

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Copilot

Pull request overview

This PR appears to extend the RoboMaster stack with a new chassis recovery mode, add a generic debug-data message/publisher for runtime telemetry, and introduce a Gazebo “step_down” simulation scenario, alongside some control/limits tuning.

Changes:

Add RECOVERY mode to rm_msgs/ChassisCmd and display it in the referee UI.
Introduce rm_msgs/DebugData plus a C++ DebugDataPublisher helper to publish named debug variables.
Add step_down Gazebo world + launch file and adjust some decision/filter behaviors (Kalman filter init, power/heat limit logic, serial handling in rm_referee main).

Reviewed changes

Copilot reviewed 11 out of 11 changed files in this pull request and generated 12 comments.

Show a summary per file

File	Description
rm_referee/src/ui/trigger_change_ui.cpp	Maps chassis mode to UI strings; adds handling for `RECOVERY`.
rm_referee/src/main.cpp	Wraps main loop in try/catch for serial exceptions (currently introduces compile/behavior issues).
rm_msgs/msg/DebugData.msg	New message for publishing arrays of stamped named debug values.
rm_msgs/msg/ChassisCmd.msg	Adds `RECOVERY = 6` chassis mode constant.
rm_msgs/CMakeLists.txt	Registers `DebugData.msg` for message generation.
rm_gazebo/worlds/step_down.world	New Gazebo world for step-down scenario (includes saved `<state>` snapshot).
rm_gazebo/launch/step_down.launch	New roslaunch entrypoint for the step-down world (currently invalid XML).
rm_common/include/rm_common/filters/kalman_filter.h	Adds `clear(x, P0)` and changes `clear(x)` covariance initialization (currently introduces a regression).
rm_common/include/rm_common/decision/power_limit.h	Extends “capacity online” window and adds a setter for burst power limit.
rm_common/include/rm_common/decision/heat_limit.h	Adds an early offline return in `getShootFrequency()`.
rm_common/include/rm_common/DebugDataPublisher.h	New helper class to accumulate/publish `rm_msgs/DebugData`.

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Refactor main loop to simplify structure and remove exception handling.

Copilot

Pull request overview

Copilot reviewed 10 out of 11 changed files in this pull request and generated 8 comments.

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Pull request overview

Copilot reviewed 10 out of 10 changed files in this pull request and generated 3 comments.

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Copilot · 2026-05-01T08:19:28Z

  template <typename T1>
  void clear(const Eigen::MatrixBase<T1>& x)
  {
    x_ = x;
    inited = true;
    K_ = DMat<T>::Zero(n_, m_);
-    P_ = DMat<T>::Zero(n_, m_);
-    P_new_ = DMat<T>::Zero(n_, n_);
+    P_.setIdentity();
+    P_new_.setIdentity();
  }


clear(const Eigen::MatrixBase<T1>& x) now calls P_new_.setIdentity(), but P_new_ is never resized in the constructor (only P_ is). This leaves P_new_ as 0x0, and the next update() will hit Eigen dimension assertions / produce invalid math. Resize P_new_ to (n_, n_) in the ctor (or inside clear(x)) before setting it to identity.

Copilot · 2026-05-01T08:19:28Z

+/**
+ * @brief Debug data publisher. Supports adding/updating named variables and batch publishing.
+ */
+class DebugDataPublisher
+{
+public:
+  /**


This public header introduces DebugDataPublisher into the global namespace. To avoid collisions for downstream users (and to match the pattern used by other non-template utility classes here, e.g. rm_common::LinearInterp / rm_common::PowerLimit), consider wrapping the class in namespace rm_common.

Copilot · 2026-05-01T08:19:28Z

+    </include>
+    23
+
+    <!-- push robot_description to factory an222322d spawn robot in gazebo -->


Typo in the XML comment: an222322d looks accidental. Replace it with and (or remove it) so the comment reads coherently.

Suggested change

WiseL00k and others added 11 commits March 21, 2026 00:52

Update trigger_change_ui to rename 'fallen' to 'sit_down' and add 're…

2a571e6

…covery' mode

Add reconnect method to Referee class for serial communication

986df67

Add RECOVERY mode to ChassisCmd message

94ce042

Merge branch 'master' into series_leg

c61d8cf

Add DebugData message and publisher for enhanced debugging capabilities

17deea3

Add error handling for serial connection and enhance power limit para…

b341051

…meters

Merge remote-tracking branch 'origin/series_leg' into series_leg

b4cd2d9

# Conflicts: # rm_common/include/rm_common/decision/power_limit.h

Add setter for burst power limit in power_limit.h

f419531

add step_down launch and world files for simulation setup

2064fc1

update default queue size in DebugDataPublisher to 5

4d6ca17

Add overloaded clear method to KalmanFilter for custom covariance ini…

b60d288

…tialization

Copilot AI review requested due to automatic review settings May 1, 2026 04:17

Copilot started reviewing on behalf of WiseL00k May 1, 2026 04:18 View session

Copilot AI reviewed May 1, 2026

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WiseL00k and others added 2 commits May 1, 2026 12:30

fix: adjust shoot frequency return value when referee is offline

08dace3

Update capacity online check duration to 0.3 seconds

15228d7

Copilot AI review requested due to automatic review settings May 1, 2026 08:00

Simplify main loop and remove try-catch block

ef22a07

Refactor main loop to simplify structure and remove exception handling.

2194555 approved these changes May 1, 2026

View reviewed changes

Copilot AI reviewed May 1, 2026

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WiseL00k requested a review from Copilot May 1, 2026 08:12

Copilot started reviewing on behalf of WiseL00k May 1, 2026 08:13 View session

Fix format.

5834358

2194555 merged commit 2485af6 into rm-controls:master May 1, 2026
7 checks passed

Copilot AI reviewed May 1, 2026

View reviewed changes

	<!-- push robot_description to factory an222322d spawn robot in gazebo -->
	<!-- push robot_description to factory and spawn robot in gazebo -->

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WiseL00k commented May 1, 2026

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netlify Bot commented May 1, 2026 •

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