Message stamps and Control Group Fixes #114

Zolkin1 · 2024-08-15T20:25:15Z

Added std messages headers to all the messages so they can be plotted in foxglove.
Changed the time stamp to be the this->now() rather than sim time. The proper way to do it with sim time would be to publish simulated time to the clock.
Fixed an issue with callback creation on the C++ side. The parameter didn't match the parameter the launch file was looking for. Also added more logging to prevent issues like this in the future and to mitigate issues with typos.
Fixed typo for the non_obelisk parameter so it now looks for the correct capitalization

…g base

…n the dummy test

alberthli

lgtm besides minor

obelisk/cpp/obelisk_cpp/include/obelisk_mujoco_sim_robot.h

obelisk_ws/src/obelisk_msgs/obelisk_sensor_msgs/msg/TrueSimState.msg

Zolkin1 added 5 commits August 15, 2024 00:50

added headers to messages

7e4b44d

changed all the sensor measurements to use ros time and in a header

5a6c566

[wip] filled out the true sim state. currently only works for floatin…

c9580ed

…g base

fixed callback group bug. added more logging for cbgs. addded a cbg i…

5a21473

…n the dummy test

fixed bug where I was looking for the wrong capitalization

0fe8cb0

alberthli approved these changes Aug 15, 2024

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alberthli and others added 4 commits August 15, 2024 23:36

uncomment stamp

e8b482e

clean up and test fixes

a2af4c7

caught a few more typos

ec8a7d6

fixed failing tests

2ae9068

Zolkin1 marked this pull request as ready for review August 16, 2024 05:05

Zolkin1 merged commit b79117a into main Aug 16, 2024
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Zolkin1 deleted the message-stamps branch August 16, 2024 05:05

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