From d9d3c3e9f176a1ab12ee959f07f0abe3f7c33244 Mon Sep 17 00:00:00 2001
From: umroverPerception <umroverPerception@gmail.com>
Date: Fri, 31 May 2024 23:48:57 -0400
Subject: [PATCH 1/9] Try to update cameras

---
 launch/jetson_autonomy.launch | 2 +-
 launch/jetson_erd.launch      | 2 +-
 launch/jetson_es.launch       | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/launch/jetson_autonomy.launch b/launch/jetson_autonomy.launch
index 17bff49f3..4e0e1cbb6 100644
--- a/launch/jetson_autonomy.launch
+++ b/launch/jetson_autonomy.launch
@@ -18,7 +18,7 @@
   <node pkg="mrover" type="gst_websocket_streamer" name="static_streamer"
         output="screen">
     <param name="dev_path" value="/devices/platform/3610000.xhci/usb1/1-2/1-2.4/1-2.4.4"/>
-    <param name="port" value="8083"/>
+    <param name="port" value="8082"/>
   </node>
 
   <!-- Zed mini -->
diff --git a/launch/jetson_erd.launch b/launch/jetson_erd.launch
index 086fb79be..072b8219c 100644
--- a/launch/jetson_erd.launch
+++ b/launch/jetson_erd.launch
@@ -5,7 +5,7 @@
   <node pkg="mrover" type="gst_websocket_streamer" name="static_streamer"
         output="screen">
     <param name="dev_path" value="/devices/platform/3610000.xhci/usb1/1-2/1-2.4/1-2.4.4"/>
-    <param name="port" value="8083"/>
+    <param name="port" value="8082"/>
   </node>
 
 
diff --git a/launch/jetson_es.launch b/launch/jetson_es.launch
index c54314eaf..558a8b352 100644
--- a/launch/jetson_es.launch
+++ b/launch/jetson_es.launch
@@ -5,7 +5,7 @@
   <node pkg="mrover" type="gst_websocket_streamer" name="static_streamer"
         output="screen">
     <param name="dev_path" value="/devices/platform/3610000.xhci/usb1/1-2/1-2.4/1-2.4.4"/>
-    <param name="port" value="8083"/>
+    <param name="port" value="8082"/>
   </node>
 
   <include file="$(find mrover)/launch/zed.launch">

From 7ff32f27bb528a251ab7152fb44167103288d7ae Mon Sep 17 00:00:00 2001
From: jbrhm <jrabraham1904@gmail.com>
Date: Mon, 10 Jun 2024 22:01:09 -0400
Subject: [PATCH 2/9] added bitset

---
 src/perception/object_detector/pch.hpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/src/perception/object_detector/pch.hpp b/src/perception/object_detector/pch.hpp
index d9b99790b..d8504e984 100644
--- a/src/perception/object_detector/pch.hpp
+++ b/src/perception/object_detector/pch.hpp
@@ -49,3 +49,5 @@
 
 #include "point.hpp"
 #include <learning.hpp>
+
+#include <bitset>
\ No newline at end of file

From c53b75ab3b64dcc888f5289a6d6ac0271b93b3a6 Mon Sep 17 00:00:00 2001
From: MRover Laptop <basestation@mrover.com>
Date: Sun, 30 Jun 2024 13:14:37 -0400
Subject: [PATCH 3/9] Backup moteus config for back left

---
 config/moteus/back_left.cfg | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/config/moteus/back_left.cfg b/config/moteus/back_left.cfg
index ef09e6973..a8998ee34 100644
--- a/config/moteus/back_left.cfg
+++ b/config/moteus/back_left.cfg
@@ -222,7 +222,7 @@ motor_position.sources.2.compensation_table.31 0.000000
 motor_position.commutation_source 0
 motor_position.output.source 0
 motor_position.output.offset 0.000000
-motor_position.output.sign -1
+motor_position.output.sign 1
 motor_position.output.reference_source -1
 motor_position.rotor_to_output_ratio 0.066667
 motor.poles 28

From 11ae92caa0e69c209b4e3e4a3d8079dee41ce2e0 Mon Sep 17 00:00:00 2001
From: umroverPerception <umroverPerception@gmail.com>
Date: Sat, 1 Jun 2024 00:56:00 -0400
Subject: [PATCH 4/9] New joint_c config

---
 config/moteus/joint_c.cfg | 60 +++++++++++++--------------------------
 1 file changed, 20 insertions(+), 40 deletions(-)

diff --git a/config/moteus/joint_c.cfg b/config/moteus/joint_c.cfg
index 761535fc1..057229a0e 100644
--- a/config/moteus/joint_c.cfg
+++ b/config/moteus/joint_c.cfg
@@ -59,7 +59,6 @@ aux2.i2c.i2c_mode 1
 aux2.i2c.pullup 0
 aux2.i2c.devices.0.type 0
 aux2.i2c.devices.0.address 64
-aux2.i2c.devices.0.poll_rate_us 1000
 aux2.i2c.devices.1.type 0
 aux2.i2c.devices.1.address 64
 aux2.i2c.devices.1.poll_rate_us 1000
@@ -103,35 +102,24 @@ motor_position.sources.0.sign -1
 motor_position.sources.0.debug_override -1
 motor_position.sources.0.reference 0
 motor_position.sources.0.pll_filter_hz 100.000000
-motor_position.sources.0.compensation_table.0 0.000000
-motor_position.sources.0.compensation_table.1 0.000000
-motor_position.sources.0.compensation_table.2 0.000000
-motor_position.sources.0.compensation_table.3 0.000000
+motor_position.sources.0.compensation_tabmotor_position.sources.0.compensation_table.1 0.000000
+motor_position.sources.0.compensation_tabmotor_position.sources.0.compensation_table.3 0.000000
 motor_position.sources.0.compensation_table.4 0.000000
 motor_position.sources.0.compensation_table.5 0.000000
 motor_position.sources.0.compensation_table.6 0.000000
 motor_position.sources.0.compensation_table.7 0.000000
-motor_position.sources.0.compensation_table.8 0.000000
-motor_position.sources.0.compensation_table.9 0.000000
-motor_position.sources.0.compensation_table.10 0.000000
-motor_position.sources.0.compensation_table.11 0.000000
-motor_position.sources.0.compensation_table.12 0.000000
-motor_position.sources.0.compensation_table.13 0.000000
-motor_position.sources.0.compensation_table.14 0.000000
-motor_position.sources.0.compensation_table.15 0.000000
-motor_position.sources.0.compensation_table.16 0.000000
-motor_position.sources.0.compensation_table.17 0.000000
+motor_position.sources.0.compensation_tabmotor_position.sources.0.compensation_table.9 0.000000
+motor_position.sources.0.compensation_tabmotor_position.sources.0.compensation_table.11 0.000000
+motor_position.sources.0.compensation_tabmotor_position.sources.0.compensation_table.13 0.000000
+motor_position.sources.0.compensation_tabmotor_position.sources.0.compensation_table.15 0.000000
+motor_position.sources.0.compensation_tabmotor_position.sources.0.compensation_table.17 0.000000
 motor_position.sources.0.compensation_table.18 0.000000
-motor_position.sources.0.compensation_table.19 0.000000
-motor_position.sources.0.compensation_table.20 0.000000
+motor_position.sources.0.compensation_tabmotor_position.sources.0.compensation_table.20 0.000000
 motor_position.sources.0.compensation_table.21 0.000000
-motor_position.sources.0.compensation_table.22 0.000000
-motor_position.sources.0.compensation_table.23 0.000000
-motor_position.sources.0.compensation_table.24 0.000000
+motor_position.sources.0.compensation_tabmotor_position.sources.0.compensation_tabmotor_position.sources.0.compensation_table.24 0.000000
 motor_position.sources.0.compensation_table.25 0.000000
 motor_position.sources.0.compensation_table.26 0.000000
-motor_position.sources.0.compensation_table.27 0.000000
-motor_position.sources.0.compensation_table.28 0.000000
+motor_position.sources.0.compensation_tabmotor_position.sources.0.compensation_table.28 0.000000
 motor_position.sources.0.compensation_table.29 0.000000
 motor_position.sources.0.compensation_table.30 0.000000
 motor_position.sources.0.compensation_table.31 0.000000
@@ -148,15 +136,13 @@ motor_position.sources.1.pll_filter_hz 100.000000
 motor_position.sources.1.compensation_table.0 0.000000
 motor_position.sources.1.compensation_table.1 0.000000
 motor_position.sources.1.compensation_table.2 0.000000
-motor_position.sources.1.compensation_table.3 0.000000
-motor_position.sources.1.compensation_table.4 0.000000
+motor_position.sources.1.compensation_tabmotor_position.sources.1.compensation_table.4 0.000000
 motor_position.sources.1.compensation_table.5 0.000000
 motor_position.sources.1.compensation_table.6 0.000000
 motor_position.sources.1.compensation_table.7 0.000000
 motor_position.sources.1.compensation_table.8 0.000000
 motor_position.sources.1.compensation_table.9 0.000000
-motor_position.sources.1.compensation_table.10 0.000000
-motor_position.sources.1.compensation_table.11 0.000000
+motor_position.sources.1.compensation_tabmotor_position.sources.1.compensation_table.11 0.000000
 motor_position.sources.1.compensation_table.12 0.000000
 motor_position.sources.1.compensation_table.13 0.000000
 motor_position.sources.1.compensation_table.14 0.000000
@@ -166,8 +152,7 @@ motor_position.sources.1.compensation_table.17 0.000000
 motor_position.sources.1.compensation_table.18 0.000000
 motor_position.sources.1.compensation_table.19 0.000000
 motor_position.sources.1.compensation_table.20 0.000000
-motor_position.sources.1.compensation_table.21 0.000000
-motor_position.sources.1.compensation_table.22 0.000000
+motor_position.sources.1.compensation_tabmotor_position.sources.1.compensation_table.22 0.000000
 motor_position.sources.1.compensation_table.23 0.000000
 motor_position.sources.1.compensation_table.24 0.000000
 motor_position.sources.1.compensation_table.25 0.000000
@@ -200,8 +185,7 @@ motor_position.sources.2.compensation_table.9 0.000000
 motor_position.sources.2.compensation_table.10 0.000000
 motor_position.sources.2.compensation_table.11 0.000000
 motor_position.sources.2.compensation_table.12 0.000000
-motor_position.sources.2.compensation_table.13 0.000000
-motor_position.sources.2.compensation_table.14 0.000000
+motor_position.sources.2.compensation_tabmotor_position.sources.2.compensation_table.14 0.000000
 motor_position.sources.2.compensation_table.15 0.000000
 motor_position.sources.2.compensation_table.16 0.000000
 motor_position.sources.2.compensation_table.17 0.000000
@@ -209,8 +193,7 @@ motor_position.sources.2.compensation_table.18 0.000000
 motor_position.sources.2.compensation_table.19 0.000000
 motor_position.sources.2.compensation_table.20 0.000000
 motor_position.sources.2.compensation_table.21 0.000000
-motor_position.sources.2.compensation_table.22 0.000000
-motor_position.sources.2.compensation_table.23 0.000000
+motor_position.sources.2.compensation_tabmotor_position.sources.2.compensation_table.23 0.000000
 motor_position.sources.2.compensation_table.24 0.000000
 motor_position.sources.2.compensation_table.25 0.000000
 motor_position.sources.2.compensation_table.26 0.000000
@@ -222,13 +205,12 @@ motor_position.sources.2.compensation_table.31 0.000000
 motor_position.commutation_source 0
 motor_position.output.source 0
 motor_position.output.offset 0.297363
-motor_position.output.sign 1
 motor_position.output.reference_source 1
 motor_position.rotor_to_output_ratio 0.002066
 motor.poles 14
 motor.phase_invert 0
-motor.resistance_ohm 0.162850
-motor.v_per_hz 0.000505
+motor.resistance_ohm 0.165744
+motor.v_per_hz 0.194689
 motor.offset.0 0.000000
 motor.offset.1 0.000000
 motor.offset.2 0.000000
@@ -1321,7 +1303,6 @@ motor.cogging_dq_comp.1020 0
 motor.cogging_dq_comp.1021 0
 motor.cogging_dq_comp.1022 0
 motor.cogging_dq_comp.1023 0
-drv8323_conf.dis_cpuv 0
 drv8323_conf.dis_gdf 0
 drv8323_conf.otw_rep 0
 drv8323_conf.pwm_mode 1
@@ -1354,15 +1335,14 @@ servo.max_voltage 56.000000
 servo.max_power_W 450.000000
 servo.derate_temperature 50.000000
 servo.fault_temperature 75.000000
-servo.enable_motor_temperature 0
 servo.motor_derate_temperature 50.000000
 servo.motor_fault_temperature nan
 servo.velocity_threshold 0.000000
 servo.position_derate 0.020000
 servo.adc_cur_cycles 2
 servo.adc_aux_cycles 47
-servo.pid_dq.kp 0.060606
-servo.pid_dq.ki 102.321388
+servo.pid_dq.kp 0.060796
+servo.pid_dq.ki 104.140076
 servo.pid_position.kp 800.000000
 servo.pid_position.ki 0.000000
 servo.pid_position.kd 50.000000
@@ -1378,6 +1358,7 @@ servo.voltage_mode_control 0
 servo.fixed_voltage_mode 0
 servo.fixed_voltage_control_V 0.000000
 servo.max_position_slip 0.100000
+servo.max_velocity_slip nan
 servo.default_timeout_s 0.100000
 servo.timeout_max_torque_Nm 5.000000
 servo.timeout_mode 12
@@ -1385,7 +1366,6 @@ servo.flux_brake_min_voltage 53.000000
 servo.flux_brake_resistance_ohm 0.025000
 servo.max_current_A 100.000000
 servo.derate_current_A -20.000000
-servo.max_velocity 0.100000
 servo.max_velocity_derate 2.000000
 servo.cooldown_cycles 256
 servo.velocity_zero_capture_threshold 0.050000

From 027207105504a7ee7344fc74e6792a5d8495faf5 Mon Sep 17 00:00:00 2001
From: jbrhm <jrabraham1904@gmail.com>
Date: Sat, 6 Jul 2024 16:42:14 -0400
Subject: [PATCH 5/9] New State Machine Visualizer

---
 launch/autonomy.launch       |  2 ++
 scripts/visualizer.py        | 31 ++++++++++++++++---------------
 src/navigation/navigation.py |  4 +++-
 3 files changed, 21 insertions(+), 16 deletions(-)

diff --git a/launch/autonomy.launch b/launch/autonomy.launch
index 26b856623..c4b6b3625 100644
--- a/launch/autonomy.launch
+++ b/launch/autonomy.launch
@@ -1,4 +1,6 @@
 <launch>
+  <rosparam command="load" file="$(find mrover)/config/esw.yaml"/>
+
   <arg name="tag_detector" default="true"/>
   <arg name="object_detector" default="false"/>
   <arg name="cost_map" default="true"/>
diff --git a/scripts/visualizer.py b/scripts/visualizer.py
index a849ec49c..2e16d6cba 100755
--- a/scripts/visualizer.py
+++ b/scripts/visualizer.py
@@ -11,14 +11,14 @@
 
 import rospy
 import sys
-from smach_msgs.msg import SmachContainerStatus, SmachContainerStructure
+from mrover.msg import StateMachineStructure, StateMachineStateUpdate
 from threading import Lock
 from dataclasses import dataclass
 from typing import Optional, List, Dict
 
 
-STRUCTURE_TOPIC = "/smach/container_structure"
-STATUS_TOPIC = "/smach/container_status"
+STRUCTURE_TOPIC = "nav_structure"
+STATUS_TOPIC = "nav_state"
 
 
 @dataclass
@@ -30,7 +30,7 @@ class State:
 class StateMachine:
     def __init__(self):
         self.states: Dict[str, State] = {}
-        self.structure: Optional[SmachContainerStructure] = None
+        self.structure: Optional[StateMachineStructure] = None
         self.mutex: Lock = Lock()
         self.cur_active: str = ""
         self.previous_state: str = ""
@@ -50,17 +50,18 @@ def set_active_state(self, active_state):
                     f"Current time: {now} Previous state: {self.previous_state} Current State: { self.cur_active}"
                 )
 
-    def _rebuild(self, structure: SmachContainerStructure):
+    def _rebuild(self, structure: StateMachineStructure):
         """
         rebuilds the state dictionary with a new structure message
         """
-        self.states = {child: State(child, []) for child in structure.children}
-        for start, end in zip(structure.outcomes_from, structure.outcomes_to):
-            if end != "None":
-                self.states[start].children.append(self.states[end])
+        self.states = {child.origin: State(child.origin, []) for child in structure.transitions}
+        for transition in structure.transitions:
+            origin = transition.origin
+            for to in transition.destinations:
+                self.states[origin].children.append(self.states[to])
         self.needs_redraw = True
 
-    def check_rebuild(self, structure: SmachContainerStructure):
+    def check_rebuild(self, structure: StateMachineStructure):
         """
         checks if the structure passed as input matches the structure already represented (thread safe)
         """
@@ -71,10 +72,10 @@ def check_rebuild(self, structure: SmachContainerStructure):
                 self._rebuild(structure)
                 self.structure = structure
 
-    def container_status_callback(self, status: SmachContainerStatus):
-        self.set_active_state(status.active_states[0])
+    def container_status_callback(self, status: StateMachineStateUpdate):
+        self.set_active_state(status.state)
 
-    def container_structure_callback(self, structure: SmachContainerStructure):
+    def container_structure_callback(self, structure: StateMachineStructure):
         self.check_rebuild(structure)
 
 
@@ -121,12 +122,12 @@ def update(self):
     rospy.init_node("smach_visualizer", anonymous=False, disable_signals=True, log_level=rospy.INFO)
     rospy.Subscriber(
         STRUCTURE_TOPIC,
-        SmachContainerStructure,
+        StateMachineStructure,
         state_machine.container_structure_callback,
     )
     rospy.Subscriber(
         STATUS_TOPIC,
-        SmachContainerStatus,
+        StateMachineStateUpdate,
         state_machine.container_status_callback,
     )
     app = QApplication([])  # type: ignore
diff --git a/src/navigation/navigation.py b/src/navigation/navigation.py
index 78088756b..c58d127da 100755
--- a/src/navigation/navigation.py
+++ b/src/navigation/navigation.py
@@ -45,7 +45,9 @@ def __init__(self, context: Context):
         )
         self.state_machine.add_transitions(
             SearchState(),
-            [ApproachTargetState(), LongRangeState(), WaypointState(), RecoveryState()],
+            [
+                ApproachTargetState(), LongRangeState(), WaypointState(), RecoveryState()
+            ],
         )
         self.state_machine.add_transitions(DoneState(), [WaypointState()])
         self.state_machine.add_transitions(

From 070d8b57acfc02b2d8d8a14d4275be33fb46d6ed Mon Sep 17 00:00:00 2001
From: jbrhm <jrabraham1904@gmail.com>
Date: Sat, 6 Jul 2024 20:17:30 -0400
Subject: [PATCH 6/9] Fixed Launchfile

---
 launch/autonomy.launch | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/launch/autonomy.launch b/launch/autonomy.launch
index c4b6b3625..b2f1ab795 100644
--- a/launch/autonomy.launch
+++ b/launch/autonomy.launch
@@ -13,5 +13,5 @@
 
   <include file="$(find mrover)/launch/navigation.launch"/>
 
-  <!-- <include file="$(find mrover)/launch/localization.launch"/> -->
+  <include file="$(find mrover)/launch/localization.launch"/>
 </launch>
\ No newline at end of file

From 1f5c46cfe5ba24becfd27c7f7e9827e39c4ef007 Mon Sep 17 00:00:00 2001
From: jbrhm <jrabraham1904@gmail.com>
Date: Sun, 7 Jul 2024 22:15:21 -0400
Subject: [PATCH 7/9] Removed stuff from autonomy.launch; sim no luanhc tho

---
 launch/autonomy.launch | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/launch/autonomy.launch b/launch/autonomy.launch
index b2f1ab795..c4b6b3625 100644
--- a/launch/autonomy.launch
+++ b/launch/autonomy.launch
@@ -13,5 +13,5 @@
 
   <include file="$(find mrover)/launch/navigation.launch"/>
 
-  <include file="$(find mrover)/launch/localization.launch"/>
+  <!-- <include file="$(find mrover)/launch/localization.launch"/> -->
 </launch>
\ No newline at end of file

From f4f44e8187a2f4ecfe60f3119371d712ed2e05f6 Mon Sep 17 00:00:00 2001
From: Alison Ryckman <alison.ryckman@gmail.com>
Date: Wed, 10 Jul 2024 21:52:55 -0400
Subject: [PATCH 8/9] restore moteus configs

---
 config/moteus/back_left.cfg            |  2 +-
 config/moteus/joint_c.cfg              | 60 +++++++++++++++++---------
 launch/jetson_autonomy.launch          |  2 +-
 launch/jetson_erd.launch               |  2 +-
 launch/jetson_es.launch                |  2 +-
 src/perception/object_detector/pch.hpp |  2 -
 6 files changed, 44 insertions(+), 26 deletions(-)

diff --git a/config/moteus/back_left.cfg b/config/moteus/back_left.cfg
index a8998ee34..ef09e6973 100644
--- a/config/moteus/back_left.cfg
+++ b/config/moteus/back_left.cfg
@@ -222,7 +222,7 @@ motor_position.sources.2.compensation_table.31 0.000000
 motor_position.commutation_source 0
 motor_position.output.source 0
 motor_position.output.offset 0.000000
-motor_position.output.sign 1
+motor_position.output.sign -1
 motor_position.output.reference_source -1
 motor_position.rotor_to_output_ratio 0.066667
 motor.poles 28
diff --git a/config/moteus/joint_c.cfg b/config/moteus/joint_c.cfg
index 057229a0e..761535fc1 100644
--- a/config/moteus/joint_c.cfg
+++ b/config/moteus/joint_c.cfg
@@ -59,6 +59,7 @@ aux2.i2c.i2c_mode 1
 aux2.i2c.pullup 0
 aux2.i2c.devices.0.type 0
 aux2.i2c.devices.0.address 64
+aux2.i2c.devices.0.poll_rate_us 1000
 aux2.i2c.devices.1.type 0
 aux2.i2c.devices.1.address 64
 aux2.i2c.devices.1.poll_rate_us 1000
@@ -102,24 +103,35 @@ motor_position.sources.0.sign -1
 motor_position.sources.0.debug_override -1
 motor_position.sources.0.reference 0
 motor_position.sources.0.pll_filter_hz 100.000000
-motor_position.sources.0.compensation_tabmotor_position.sources.0.compensation_table.1 0.000000
-motor_position.sources.0.compensation_tabmotor_position.sources.0.compensation_table.3 0.000000
+motor_position.sources.0.compensation_table.0 0.000000
+motor_position.sources.0.compensation_table.1 0.000000
+motor_position.sources.0.compensation_table.2 0.000000
+motor_position.sources.0.compensation_table.3 0.000000
 motor_position.sources.0.compensation_table.4 0.000000
 motor_position.sources.0.compensation_table.5 0.000000
 motor_position.sources.0.compensation_table.6 0.000000
 motor_position.sources.0.compensation_table.7 0.000000
-motor_position.sources.0.compensation_tabmotor_position.sources.0.compensation_table.9 0.000000
-motor_position.sources.0.compensation_tabmotor_position.sources.0.compensation_table.11 0.000000
-motor_position.sources.0.compensation_tabmotor_position.sources.0.compensation_table.13 0.000000
-motor_position.sources.0.compensation_tabmotor_position.sources.0.compensation_table.15 0.000000
-motor_position.sources.0.compensation_tabmotor_position.sources.0.compensation_table.17 0.000000
+motor_position.sources.0.compensation_table.8 0.000000
+motor_position.sources.0.compensation_table.9 0.000000
+motor_position.sources.0.compensation_table.10 0.000000
+motor_position.sources.0.compensation_table.11 0.000000
+motor_position.sources.0.compensation_table.12 0.000000
+motor_position.sources.0.compensation_table.13 0.000000
+motor_position.sources.0.compensation_table.14 0.000000
+motor_position.sources.0.compensation_table.15 0.000000
+motor_position.sources.0.compensation_table.16 0.000000
+motor_position.sources.0.compensation_table.17 0.000000
 motor_position.sources.0.compensation_table.18 0.000000
-motor_position.sources.0.compensation_tabmotor_position.sources.0.compensation_table.20 0.000000
+motor_position.sources.0.compensation_table.19 0.000000
+motor_position.sources.0.compensation_table.20 0.000000
 motor_position.sources.0.compensation_table.21 0.000000
-motor_position.sources.0.compensation_tabmotor_position.sources.0.compensation_tabmotor_position.sources.0.compensation_table.24 0.000000
+motor_position.sources.0.compensation_table.22 0.000000
+motor_position.sources.0.compensation_table.23 0.000000
+motor_position.sources.0.compensation_table.24 0.000000
 motor_position.sources.0.compensation_table.25 0.000000
 motor_position.sources.0.compensation_table.26 0.000000
-motor_position.sources.0.compensation_tabmotor_position.sources.0.compensation_table.28 0.000000
+motor_position.sources.0.compensation_table.27 0.000000
+motor_position.sources.0.compensation_table.28 0.000000
 motor_position.sources.0.compensation_table.29 0.000000
 motor_position.sources.0.compensation_table.30 0.000000
 motor_position.sources.0.compensation_table.31 0.000000
@@ -136,13 +148,15 @@ motor_position.sources.1.pll_filter_hz 100.000000
 motor_position.sources.1.compensation_table.0 0.000000
 motor_position.sources.1.compensation_table.1 0.000000
 motor_position.sources.1.compensation_table.2 0.000000
-motor_position.sources.1.compensation_tabmotor_position.sources.1.compensation_table.4 0.000000
+motor_position.sources.1.compensation_table.3 0.000000
+motor_position.sources.1.compensation_table.4 0.000000
 motor_position.sources.1.compensation_table.5 0.000000
 motor_position.sources.1.compensation_table.6 0.000000
 motor_position.sources.1.compensation_table.7 0.000000
 motor_position.sources.1.compensation_table.8 0.000000
 motor_position.sources.1.compensation_table.9 0.000000
-motor_position.sources.1.compensation_tabmotor_position.sources.1.compensation_table.11 0.000000
+motor_position.sources.1.compensation_table.10 0.000000
+motor_position.sources.1.compensation_table.11 0.000000
 motor_position.sources.1.compensation_table.12 0.000000
 motor_position.sources.1.compensation_table.13 0.000000
 motor_position.sources.1.compensation_table.14 0.000000
@@ -152,7 +166,8 @@ motor_position.sources.1.compensation_table.17 0.000000
 motor_position.sources.1.compensation_table.18 0.000000
 motor_position.sources.1.compensation_table.19 0.000000
 motor_position.sources.1.compensation_table.20 0.000000
-motor_position.sources.1.compensation_tabmotor_position.sources.1.compensation_table.22 0.000000
+motor_position.sources.1.compensation_table.21 0.000000
+motor_position.sources.1.compensation_table.22 0.000000
 motor_position.sources.1.compensation_table.23 0.000000
 motor_position.sources.1.compensation_table.24 0.000000
 motor_position.sources.1.compensation_table.25 0.000000
@@ -185,7 +200,8 @@ motor_position.sources.2.compensation_table.9 0.000000
 motor_position.sources.2.compensation_table.10 0.000000
 motor_position.sources.2.compensation_table.11 0.000000
 motor_position.sources.2.compensation_table.12 0.000000
-motor_position.sources.2.compensation_tabmotor_position.sources.2.compensation_table.14 0.000000
+motor_position.sources.2.compensation_table.13 0.000000
+motor_position.sources.2.compensation_table.14 0.000000
 motor_position.sources.2.compensation_table.15 0.000000
 motor_position.sources.2.compensation_table.16 0.000000
 motor_position.sources.2.compensation_table.17 0.000000
@@ -193,7 +209,8 @@ motor_position.sources.2.compensation_table.18 0.000000
 motor_position.sources.2.compensation_table.19 0.000000
 motor_position.sources.2.compensation_table.20 0.000000
 motor_position.sources.2.compensation_table.21 0.000000
-motor_position.sources.2.compensation_tabmotor_position.sources.2.compensation_table.23 0.000000
+motor_position.sources.2.compensation_table.22 0.000000
+motor_position.sources.2.compensation_table.23 0.000000
 motor_position.sources.2.compensation_table.24 0.000000
 motor_position.sources.2.compensation_table.25 0.000000
 motor_position.sources.2.compensation_table.26 0.000000
@@ -205,12 +222,13 @@ motor_position.sources.2.compensation_table.31 0.000000
 motor_position.commutation_source 0
 motor_position.output.source 0
 motor_position.output.offset 0.297363
+motor_position.output.sign 1
 motor_position.output.reference_source 1
 motor_position.rotor_to_output_ratio 0.002066
 motor.poles 14
 motor.phase_invert 0
-motor.resistance_ohm 0.165744
-motor.v_per_hz 0.194689
+motor.resistance_ohm 0.162850
+motor.v_per_hz 0.000505
 motor.offset.0 0.000000
 motor.offset.1 0.000000
 motor.offset.2 0.000000
@@ -1303,6 +1321,7 @@ motor.cogging_dq_comp.1020 0
 motor.cogging_dq_comp.1021 0
 motor.cogging_dq_comp.1022 0
 motor.cogging_dq_comp.1023 0
+drv8323_conf.dis_cpuv 0
 drv8323_conf.dis_gdf 0
 drv8323_conf.otw_rep 0
 drv8323_conf.pwm_mode 1
@@ -1335,14 +1354,15 @@ servo.max_voltage 56.000000
 servo.max_power_W 450.000000
 servo.derate_temperature 50.000000
 servo.fault_temperature 75.000000
+servo.enable_motor_temperature 0
 servo.motor_derate_temperature 50.000000
 servo.motor_fault_temperature nan
 servo.velocity_threshold 0.000000
 servo.position_derate 0.020000
 servo.adc_cur_cycles 2
 servo.adc_aux_cycles 47
-servo.pid_dq.kp 0.060796
-servo.pid_dq.ki 104.140076
+servo.pid_dq.kp 0.060606
+servo.pid_dq.ki 102.321388
 servo.pid_position.kp 800.000000
 servo.pid_position.ki 0.000000
 servo.pid_position.kd 50.000000
@@ -1358,7 +1378,6 @@ servo.voltage_mode_control 0
 servo.fixed_voltage_mode 0
 servo.fixed_voltage_control_V 0.000000
 servo.max_position_slip 0.100000
-servo.max_velocity_slip nan
 servo.default_timeout_s 0.100000
 servo.timeout_max_torque_Nm 5.000000
 servo.timeout_mode 12
@@ -1366,6 +1385,7 @@ servo.flux_brake_min_voltage 53.000000
 servo.flux_brake_resistance_ohm 0.025000
 servo.max_current_A 100.000000
 servo.derate_current_A -20.000000
+servo.max_velocity 0.100000
 servo.max_velocity_derate 2.000000
 servo.cooldown_cycles 256
 servo.velocity_zero_capture_threshold 0.050000
diff --git a/launch/jetson_autonomy.launch b/launch/jetson_autonomy.launch
index 4e0e1cbb6..17bff49f3 100644
--- a/launch/jetson_autonomy.launch
+++ b/launch/jetson_autonomy.launch
@@ -18,7 +18,7 @@
   <node pkg="mrover" type="gst_websocket_streamer" name="static_streamer"
         output="screen">
     <param name="dev_path" value="/devices/platform/3610000.xhci/usb1/1-2/1-2.4/1-2.4.4"/>
-    <param name="port" value="8082"/>
+    <param name="port" value="8083"/>
   </node>
 
   <!-- Zed mini -->
diff --git a/launch/jetson_erd.launch b/launch/jetson_erd.launch
index 072b8219c..086fb79be 100644
--- a/launch/jetson_erd.launch
+++ b/launch/jetson_erd.launch
@@ -5,7 +5,7 @@
   <node pkg="mrover" type="gst_websocket_streamer" name="static_streamer"
         output="screen">
     <param name="dev_path" value="/devices/platform/3610000.xhci/usb1/1-2/1-2.4/1-2.4.4"/>
-    <param name="port" value="8082"/>
+    <param name="port" value="8083"/>
   </node>
 
 
diff --git a/launch/jetson_es.launch b/launch/jetson_es.launch
index 558a8b352..c54314eaf 100644
--- a/launch/jetson_es.launch
+++ b/launch/jetson_es.launch
@@ -5,7 +5,7 @@
   <node pkg="mrover" type="gst_websocket_streamer" name="static_streamer"
         output="screen">
     <param name="dev_path" value="/devices/platform/3610000.xhci/usb1/1-2/1-2.4/1-2.4.4"/>
-    <param name="port" value="8082"/>
+    <param name="port" value="8083"/>
   </node>
 
   <include file="$(find mrover)/launch/zed.launch">
diff --git a/src/perception/object_detector/pch.hpp b/src/perception/object_detector/pch.hpp
index d8504e984..d9b99790b 100644
--- a/src/perception/object_detector/pch.hpp
+++ b/src/perception/object_detector/pch.hpp
@@ -49,5 +49,3 @@
 
 #include "point.hpp"
 #include <learning.hpp>
-
-#include <bitset>
\ No newline at end of file

From 1ef518702094a8ea164c77dca271a1499acc2cc4 Mon Sep 17 00:00:00 2001
From: Alison Ryckman <alison.ryckman@gmail.com>
Date: Wed, 10 Jul 2024 22:09:37 -0400
Subject: [PATCH 9/9] fix world mesh

---
 launch/autonomy.launch      | 2 --
 urdf/world/world.urdf.xacro | 4 ++--
 2 files changed, 2 insertions(+), 4 deletions(-)

diff --git a/launch/autonomy.launch b/launch/autonomy.launch
index c4b6b3625..26b856623 100644
--- a/launch/autonomy.launch
+++ b/launch/autonomy.launch
@@ -1,6 +1,4 @@
 <launch>
-  <rosparam command="load" file="$(find mrover)/config/esw.yaml"/>
-
   <arg name="tag_detector" default="true"/>
   <arg name="object_detector" default="false"/>
   <arg name="cost_map" default="true"/>
diff --git a/urdf/world/world.urdf.xacro b/urdf/world/world.urdf.xacro
index 346deec0e..7bd248c56 100644
--- a/urdf/world/world.urdf.xacro
+++ b/urdf/world/world.urdf.xacro
@@ -7,12 +7,12 @@
     </inertial>
     <visual>
       <geometry>
-        <mesh filename="package://mrover/urdf/meshes/ground_boulders.fbx"/>
+        <mesh filename="package://mrover/urdf/meshes/groundflat.fbx"/>
       </geometry>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://mrover/urdf/meshes/ground_boulders.fbx"/>
+        <mesh filename="package://mrover/urdf/meshes/groundflat.fbx"/>
       </geometry>
     </collision>
   </link>