Added Documentation

This release includes comments for some of the behaviour controllers and additions to the readme describing how to use the deployment script. There is no change in functionality.

Fixed erroneous disconnect messages

This patch was contributed by Mike Matera of Cabrillo college.

Comments

Added comments to better explain how the code works.

Initial Gold Release

This release marks the end of the beta period. Only major bugs will be fixed from now on. We will attempt to make as few changes as possible so that teams can use this code as their base.

Improvements from v1.3.42-beta:

This release makes better use of the GPS data to more reliably return to the collection zone. In our tests 3 rovers working for 30 minutes collect 13 targets.

Known bugs:

1. Sometimes rovers that see fewer than 4 collection zone april tags will stop and be unable to move.
2. If the joystick is plugged in the gripper will jitter in autonomous mode.

ignore center sonar when carrying cube

Ignore the center sonar when carrying a cube. Sometimes the cube will block the center sonar and the rover gets stuck.

Clear manual waypoints when switching to autonomous

Merge pull request #141 from BCLab-UNM/hotfix-reset-manual-waypoints

Hotfix reset manual waypoints

Increased drift tolerance

Rovers update their estimated center location when GPS data and odom data differ by a tolerance value. We increased that tolerance value to 5 m. Having the tolerance too small means the center estimate changes too frequently.

Hardware driving bug fixes

1. Lower gripper immediately when block triggers obstacle detection.
2. Const, slow and fast pids tuned and fixed bugs in the number of data points being averaged.
3. Search was using a different waypoint tolerance than the other controllers.
4. Adjusted pick up controller and sbridge to get sim and physical pick up to perform similarly after PID changes.
5. Reduced the PID saturation to get rovers to drive more slowly.

Fixed joystick auto gripper command conflict

Caused the gripper to twitch when picking up cubes in auto mode when the joystick was plugged in.

Ensures files are not deployed as symlinks

Sometimes cmake create symlinks to devel/setup.bash that contain the full path to the place the code was built (typically not on the rover where the code is run). Sourcing that setup.bash does not work because the specified path does not exist on the rover. We now make sure that when the code is tarred up symlinks are converted to regular files.