991 gps path follow #1046
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991 gps path follow #1046
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- logger to log arbitrary memory properties - pipe allows renaming of memory properties - serial_port.py reads lines from a serial port and puts then in named memory properties for use by other parts. This makes it easier to write a part and unit test the part by separating our the serial port. It also makes the serial port code reusable. - text_writer.py will write data to CSV/TSV files
- gps.py now uses serial_part.py to read from serial port, so it does not need to know about the specifics of how it gets an nmea sentence. - path now allows saving as either a Rosbag or a delimited test file, like a CSV or a TSV.
- uses the add_**** methods in complete.py to add camera, controller, drivetrain, odometry, etc. so it supports that same hardware as the complete.py template. - adds gps line following. - a large change to the user flow to make it more like the complete.py network, where there is a 'user' mode to save waypoints and an 'autopilot' mode to drive autonomously.
This was referenced Oct 10, 2022
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I have empirically tested the TCIII |
DocGarbanzo
reviewed
Oct 12, 2022
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Issue 991
This is been cherry picked from 921-gps-logger branch, which was successfully used in the Sept. 2022 Fremont outdoor race. See Ezward on GPS for a complete description of how the car and software were setup to use this branch.