Make compatible with the updated CRTK message names. #30
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melodysu83
commented
Aug 14, 2024
melodysu83
commented
- Updated raven2 code to work with the new CRTK message type (crtk_msgs 1.1.0)
- Continuing Andy's recent effort of changing C++ console input function names to be compatible with Ubuntu 20, we created a flag to choose between the old versus new function names (yes, we're still using ancient Ubuntu, so only the old function names work). In short, there is now a #define UBUNTU_20 that you need to comment out if you are using an older version of Ubuntu (such as 16.04).
- The package is named raven_2_crtk (instead of raven_2), this is so that it's easier to keep both versions while testing.
- Lastly, when compiling the board IDs need to be set correctly in defines.h
Changed servo_cr, servo_cp, measured_cp, and setpoint_cp to use PoseStamped messages. Changed servo_cv to use TwistStamped messages.
changed package name from raven_2 to raven_2_crtk to differentiate from the standard package
fixed publish_crtk_measured_js so the gold arm is published on the gold arm topic and the green arm is published on the green arm topic and fixed measured_cp publishing gold on green and green on gold
changed EXTRA_ARMS default to 0 for two or fewer arms
changed to default to DV tools on both arms
Add conditional compilation to switch between methods of getting character from stdin for Ubuntu 20 and older version of Ubuntu
Changed to the new CRTK OperatingState message
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