Use GNSS RTK in simulation #188
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rodja
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Oct 8, 2024
pascalzauberzeug
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Oct 14, 2024
This PR aims to reenable the row driving of the robot. This is relatet to the new field creation and uses the fields created by the ab line field creation. ToDo: - [x] wait for #188 - [x] wait for zauberzeug/rosys#204 - [x] fix the row change for small row distances (probably without the spline tool) - [x] tidy up row change - [x] Fix row change for real robot with bad odometry - [x] Row 3 of Wiese_Testfeld is driven over two times - [x] Fix start_field_watch - [x] write tests - [x] Fix field outlines - [x] Remove hardcoded fields - [x] Remove old rows_on_field_navigation and AB-Line Navigation - [x] Remove dev info on main page - [x] Move ESP gpio code to zauberzeug/rosys#196 Known Issues: - Always starts at the first row - Can not continue a row after restart --------- Co-authored-by: Lukas Baecker <baecker.lukas@outlook.de> Co-authored-by: Pascal Schade <pascal@zauberzeug.com>
pascalzauberzeug
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Oct 22, 2024
Based on the findings in #177, we decided to remove the gnss pausing and automaticly update when the robot didn't move between gnss signals. - [x] Wait for zauberzeug/rosys#204 - [x] Wait for #188 - [x] Fix test - [x] Test on real robot - [x] Wait for zauberzeug/rosys#210 - [x] Wait for #202 Note on the movement check: Before it was check whether both poses are equal, which will not work with small movement / sensor noise and time differences between both poses. The tolerance values are arbitrarily picked, but should work alright. https://github.com/zauberzeug/field_friend/blob/ef427b827e8af797f2c4213b9054ebbbae6927a8/field_friend/automations/automation_watcher.py#L133 vs https://github.com/zauberzeug/field_friend/blob/a2378a2144d63d76e4db5c77eb276835115ea682/field_friend/localization/gnss.py#L109 --------- Co-authored-by: LukasBaecker <65940705+LukasBaecker@users.noreply.github.com>
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The GNSS simulation is currently not updating the heading, which it should with our RTK system.
test_follow_crops_with_slippagefailed., because the heading that was expected before was based on wrong behaviour.