0.2.5

0.2.5 (#57)

0.2.5, final release before moving to 16.04 and Kinetic

0.2.4

0.2.4

v0.2.3

• Fix logic error in redesigned runstop code in both servoInterface (tested on hardware), autorallyChassis(not yet tested on hardware)
• Improved readme to get the simulated robot running autonomously
• Update state estimator to add offset between IMU and GPS
• Usability update to platform config scripts

v0.2.2

Minor updates to README, simulation launch file typo, and simplified camera launch procedure.

v0.2.1

Only update from 0.2.0 is an added image for the OCS icon that was forgotten.

v0.2.0

Includes new controller for AutoRally chassis version 1.0+ and migrates to new chassis message interface, including the simulation.

Old interface:
autorally_msgs::safeSpeed->servoInterface
autorally_msgs::servoCommand->servoInterface
arduinoOnboard->autorally_msgs::wheelSpeeds
arduinoOnboard->autorally_msgs::servoCommand RC signals read from receiver

The redesigned interface:
autorally_msgs::chassisCommand->autorally_chassis to control actuators
autorally_msgs::runstop->autorally_chassis for software runstop messages
autorally_chassis->autorally_msgs::chassisState for chassis state including commanded values, who is commanding each actuator, and feedback from ESC
autorally_chassis->autorally_msgs::wheelSpeeds
autorally_chassis->autorally_msgs::chassisCommand for RC signals read from receiver

Known issues (on hardware):

• once every few seconds the RC inputs are read a 0. This seems to be an issue with the arduino (autorally_chassis.ino)
• The BEC sometimes browns out with rapid movement of the steering servo, even with the glitch cap installed. We believe this issue has to do with the Mamba XL-X, further debugging is needed.

Release v0.1.0

This initial release of AutoRally software includes:

• Core platform software
• Gazebo-based simulator
• GTSAM-based state estimator
• Constant-velocity throttle controller
• GPS-based waypoint following controller