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Fix/gps throttle message #51

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Fix/gps throttle message #51

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b2ece86
support gps_message_throttle
alexvaut Aug 5, 2023
f31b325
Add missing gps_message_throttle
alexvaut Aug 6, 2023
8e40084
Move to latest xbot_positioning
alexvaut Aug 6, 2023
c8cfb47
Move back to ClemensElflein xbot_positioning repo
alexvaut Aug 7, 2023
12aca88
Set default gps_message_throttle to 60 seconds
alexvaut Aug 8, 2023
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2 changes: 1 addition & 1 deletion src/lib/xbot_positioning
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Submodule xbot_positioning updated 1 files
+4 −2 src/xbot_positioning.cpp
1 change: 1 addition & 0 deletions src/mower_logic/cfg/MowerLogic.cfg
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Expand Up @@ -29,5 +29,6 @@ gen.add("add_fake_obstacle", bool_t, 0, "True to add a fake obstacle to hopefull
gen.add("ignore_gps_errors", bool_t, 0, "True to ignore gps errors. USE ONLY FOR SIMULATION!", False)
gen.add("max_first_point_attempts", int_t, 0, "Maximum attempts to reach the first point of the mow path before trimming", 3, 1, 10)
gen.add("max_first_point_trim_attempts", int_t, 0, "After <max_first_point_attempts> we start to trim the path beginning this often", 3, 1, 10)
gen.add("gps_message_throttle", int_t, 0, "throttle value for gps messages", 60, 1, 10000)

exit(gen.generate("mower_logic", "mower_logic", "MowerLogic"))
4 changes: 2 additions & 2 deletions src/mower_logic/src/mower_logic/mower_logic.cpp
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Expand Up @@ -434,15 +434,15 @@ void checkSafety(const ros::TimerEvent &timer_event) {
// set this if we don't even have an orientation
high_level_status.gps_quality_percent = -1;
}
ROS_WARN_STREAM_THROTTLE(1,"Low quality GPS");
ROS_WARN_STREAM_THROTTLE(last_config.gps_message_throttle,"Low quality GPS");
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Could leave it as it but just not log it when !currentBehavior->needs_gps())?

}

bool gpsTimeout = ros::Time::now() - last_good_gps > ros::Duration(last_config.gps_timeout);

if(gpsTimeout) {
// GPS = bad, set quality to 0
high_level_status.gps_quality_percent = 0;
ROS_WARN_STREAM_THROTTLE(1,"GPS timeout");
ROS_WARN_STREAM_THROTTLE(last_config.gps_message_throttle,"GPS timeout");
}

if (currentBehavior != nullptr && currentBehavior->needs_gps()) {
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1 change: 1 addition & 0 deletions src/open_mower/launch/include/_localization.launch
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Expand Up @@ -9,6 +9,7 @@
<param name="max_gps_accuracy" value="0.2"/>
<param name="antenna_offset_x" value="$(env OM_ANTENNA_OFFSET_X)"/>
<param name="antenna_offset_y" value="$(env OM_ANTENNA_OFFSET_Y)"/>
<param name="gps_message_throttle" value="$(optenv OM_GPS_MESSAGE_THROTTLE 60)"/>
</node>
</group>
<group if="$(arg use_legacy_localization)">
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1 change: 1 addition & 0 deletions src/open_mower/launch/open_mower.launch
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Expand Up @@ -20,6 +20,7 @@
<param name="mow_angle_offset" value="$(optenv OM_MOWING_ANGLE_OFFSET 0)"/>
<param name="mow_angle_offset_is_absolute" value="$(optenv OM_MOWING_ANGLE_OFFSET_IS_ABSOLUTE False)"/>
<param name="mow_angle_increment" value="$(optenv OM_MOWING_ANGLE_INCREMENT 0)"/>
<param name="gps_message_throttle" value="$(optenv OM_GPS_MESSAGE_THROTTLE 60)"/>
<param name="battery_full_voltage" value="$(env OM_BATTERY_FULL_VOLTAGE)"/>
<param name="motor_hot_temperature" value="$(env OM_MOWING_MOTOR_TEMP_HIGH)"/>
<param name="motor_cold_temperature" value="$(env OM_MOWING_MOTOR_TEMP_LOW)"/>
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5 changes: 3 additions & 2 deletions src/open_mower/launch/test_playback.launch
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Expand Up @@ -31,9 +31,10 @@
<param name="max_gps_accuracy" value="0.2"/>
<param name="max_gps_accuracy" value="0.2"/>
<param name="skip_gyro_calibration" value="true"/>
<param name="gps_message_throttle" value="$(optenv OM_GPS_MESSAGE_THROTTLE 1)"/>
<param name="gyro_offset" value="0.01" />
<param name="antenna_offset_x" value="$(env OM_ANTENNA_OFFSET_X)"/>
<param name="antenna_offset_y" value="$(env OM_ANTENNA_OFFSET_Y)"/>
<param name="antenna_offset_x" value="$(env OM_ANTENNA_OFFSET_X)"/>
<param name="antenna_offset_y" value="$(env OM_ANTENNA_OFFSET_Y)"/>
</node>

<node pkg="rqt_reconfigure" type="rqt_reconfigure" name="rqt_reconfigure" if="$(arg rqt_reconfigure)"/>
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