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Fix diffdrivecontroller deprecated messages #122

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Merged
Glesko22 merged 5 commits into from
Apr 10, 2026
Merged

Fix diffdrivecontroller deprecated messages #122

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a6b1ea0
Consistency in gnome terminal screen var
TagCiccone Apr 7, 2026
8a333c7
NaNify limits
TagCiccone Apr 7, 2026
dd86a57
fix NaN formatting
TagCiccone Apr 7, 2026
abfd35a
Merge branch 'develop' into fix/deprecated-messages
TagCiccone Apr 10, 2026
f5d8897
Added proper commas
TagCiccone Apr 10, 2026
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1 change: 1 addition & 0 deletions .devcontainer/hardware/devcontainer.json
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Original file line number Diff line number Diff line change
Expand Up @@ -32,6 +32,7 @@
"ROS_DOMAIN_ID": "42",
"RMW_IMPLEMENTATION": "rmw_cyclonedds_cpp",
"HAS_ZED_DEPS": "true",
"GNOME_TERMINAL_SCREEN": "",
"NVIDIA_VISIBLE_DEVICES": "all",
"NVIDIA_DRIVER_CAPABILITES": "all",
"WAYLAND_DISPLAY": "${env:WAYLAND_DISPLAY}",
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3 changes: 2 additions & 1 deletion .devcontainer/macos/devcontainer.json
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Original file line number Diff line number Diff line change
Expand Up @@ -28,7 +28,8 @@
"DISPLAY": "host.docker.internal:0",
"ROS_AUTOMATIC_DISCOVERY_RANGE": "SUBNET",
"ROS_DOMAIN_ID": "42",
"RMW_IMPLEMENTATION": "rmw_cyclonedds_cpp"
"RMW_IMPLEMENTATION": "rmw_cyclonedds_cpp",
"GNOME_TERMINAL_SCREEN": ""
},
"runArgs": [
"-p", "5900:5900"
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5 changes: 3 additions & 2 deletions .devcontainer/nvidia/devcontainer.json
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Original file line number Diff line number Diff line change
Expand Up @@ -27,15 +27,16 @@
"DISPLAY": "${env:DISPLAY}",
"ROS_AUTOMATIC_DISCOVERY_RANGE": "SUBNET",
"ROS_DOMAIN_ID": "42",
"RMW_IMPLEMENTATION": "rmw_cyclonedds_cpp",
"GNOME_TERMINAL_SCREEN": "",
"NVIDIA_VISIBLE_DEVICES": "all",
"NVIDIA_DRIVER_CAPABILITES": "all",
"WAYLAND_DISPLAY": "${env:WAYLAND_DISPLAY}",
"LD_LIBRARY_PATH": "/usr/lib/wsl/lib",
"MESA_D3D12_DEFAULT_ADAPTER_NAME": "NVIDIA",
"MESA_LOADER_DRIVER_OVERRIDE": "d3d12",
"GALLIUM_DRIVER": "d3d12",
"LIBGL_ALWAYS_INDIRECT": "0",
"RMW_IMPLEMENTATION": "rmw_cyclonedds_cpp"
"LIBGL_ALWAYS_INDIRECT": "0"
},
"runArgs": [
"--net=host",
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30 changes: 12 additions & 18 deletions src/igvc_hardware/config/bot_controllers.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -49,33 +49,27 @@ bot_drive_controller:
# TODO work w/ mech. & auton to find kinematic limits

# TODO
linear.x.has_velocity_limits: true
linear.x.max_velocity: 2.2352 # 5 mph in meters/second
linear.x.min_velocity: -2.2352

# TODO
linear.x.has_acceleration_limits: false
linear.x.max_acceleration: 1.0
linear.x.max_deceleration: -1.0
linear.x.max_acceleration_reverse: -1.0
linear.x.max_deceleration_reverse: 1.0
linear.x.max_acceleration: .NAN
linear.x.max_deceleration: .NAN
linear.x.max_acceleration_reverse: .NAN
linear.x.max_deceleration_reverse: .NAN

#TODO
linear.x.has_jerk_limits: false
linear.x.max_jerk: 0.0
linear.x.min_jerk: 0.0
linear.x.max_jerk: .NAN
linear.x.min_jerk: .NAN

# TODO
angular.z.has_velocity_limits: false
angular.z.max_velocity: 1.0
angular.z.min_velocity: -1.0
angular.z.max_velocity: .NAN
angular.z.min_velocity: .NAN

# TODO
angular.z.has_acceleration_limits: false
angular.z.max_acceleration: 1.0
angular.z.min_acceleration: -1.0
angular.z.max_acceleration: .NAN
angular.z.min_acceleration: .NAN

# TODO
angular.z.has_jerk_limits: false
angular.z.max_jerk: 0.0
angular.z.min_jerk: 0.0
angular.z.max_jerk: .NAN
angular.z.min_jerk: .NAN