VICOM Integration #104
Description
Looks like we're going forward with VICOM camera system odometry. Granted we're only a month away from submission this seems to be all or nothing. Here's what we need working:
- Figure out and document how to startup VICOM
- Edit VICOM configuration files to track both agents (here)
- Get topic or tf data in ROS2 of the pose of both robots.
Some other things to keep in mind that will become separate issues after this is done:
2. The pose will likely be published to the standard /tf tree on the default domain, we want to bridge both poses to both robots
3. May need to edit manipulator heading code to use the VICOMS robot->robot transformation instead (or whatever transform is most appropriate to use)
4. Closed loop motions using the new odom
5. Trajectory planning (already a branch for this)
We have some work already done on this front. The forked motion tracking package is used to communicate with the VICOM system and was working last time we tested.
Feel free to add anything I may have missed.