Steering controller testing

[AbBaSaMo]

Overview

We have a ROS2 node called parallelogram_steerign_controller which listens to a topic called cmd_vel which outputs Twist messages and then calculates the position the ESDA servo must turn to in order for the vehicle to turn appropriately.

As part of this issue, we need to send a variety of cmd_vel messages while running the steering controller while observing how well the system runs and modifying the

Relevant resources

• parallelogram_steering_controller node
• Twist message
• Dynamixel servo setup

Acceptance criteria

• The controller just needs to be able to cause the servo to spin to an appropriate position in response to given cmd_vel values as verifies by software and mechanical members

Todo

• Organise a time with mechanical members
• Put the ESDA on the ground
• Connect and turn on the servo
• Run the parallelogram_steering_controller
• In a separate terminal, send twist messages to the topic cmd_vel
• Observe how the servo and wheels turn and ensure mechanical and software agree it's turnign appropriately
• don't forget to define limits for th eservo to not turn beyond so it doesnt break