ESP payload arm configuration and task tracking #53
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figuernd
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fix: Misc task pub fix
feat: Param use fix for ESP arm
fix: Task callbacks require positional arg for result fix: remove peak expiration, respect esp update frequency
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rgov
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| # Select pane 3 and launch the Chanos arm in the same container | ||
| # Select pane 3 and launch the ESP arm in the same container | ||
| tmux select-pane -t 2 | ||
| tmux send-keys "sleep 10" C-m | ||
| tmux send-keys "docker exec -it phyto-arm bash" C-m | ||
| tmux send-keys "./phyto-arm start arm_chanos ./mounted_config.yaml" C-m | ||
| tmux send-keys "./phyto-arm start arm_esp ./mounted_config.yaml" C-m |
| @@ -32,6 +32,7 @@ def __init__(self, arm_name, winch_name=None): | |||
| self.arm_name = arm_name | |||
| self.task_lock = Lock() | |||
| self.winch_client = None | |||
| self.task_pub = rospy.Publisher(f'/phyto_arm/tasks{arm_name}', ArmTask, queue_size=5) | |||
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Should this have a delimiter like /? /phyto_arm/tasks/esp etc?
| rospy.logwarn(f'Goal depth {task.depth} for task {task.name}') | ||
| self.send_winch_goal(task.depth, task.speed, task.callback) | ||
| speed = task.speed or rospy.get_param('winch/max_speed') | ||
| rospy.logwarn(f'Goal depth {task.depth}, speed {speed} for task {task.name}') |
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Doesn't seem like it should be a logwarn (but not a functional change).
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This is a new arm type for the ESP payload. Tested this summer in the field as a secondary winch to the IFCB.
Also adds task publishing for better tracking of task history in the ROS bag