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Controller plugins include goal checker when computing commands #2247

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@SteveMacenski SteveMacenski commented Mar 16, 2021

Basic Info

Info Please fill out this column
Ticket(s) this addresses #2223
Primary OS tested on Ubuntu
Robotic platform tested on Sim TB3

Description of contribution in a few bullet points

  • Added a goal checker pointer to the controllers so that they may access its information while computing commands
  • If it returns true, the controller could use that information to halt
  • Add function to goal checkers so that a plugin can access more particular information, like the XY vs yaw tolerance met to rotate in place, or robot "done" speed requirements so that it can dissect more information.
  • Use these getTolerance parameters in RPP rather than any parameters duplicated across it

Description of documentation updates required from your changes

  • Add to documentation migration guide this API changed
  • Remove parameters duplicated now removed from RPP in config page

Future work that may be required in bullet points

? N/A ?

For Maintainers:

  • Check that any new parameters added are updated in
  • Check that any significant change is added to the migration guide
  • Check that any new functions have Doxygen added
  • Check that any new features have test coverage
  • Check that any new plugins is added to the plugins page

@SteveMacenski SteveMacenski linked an issue Mar 16, 2021 that may be closed by this pull request
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Changes look good to me.

@SteveMacenski SteveMacenski reopened this Mar 16, 2021
@SteveMacenski SteveMacenski deleted the controller_plugins branch March 16, 2021 22:37
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#2252 superseded

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Give controllers pointer to goal checker
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