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Joystick Safety Timeout Improvements #320

Merged
merged 9 commits into from
Jan 12, 2025
Merged

Joystick Safety Timeout Improvements #320

merged 9 commits into from
Jan 12, 2025

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BergerKing333
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@BergerKing333 BergerKing333 commented Nov 11, 2024 •
edited by Isopod00
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As discussed at the fall PDR, it would be beneficial to give joy_node communications a timestamp so the robot doesn't react to stale messages sent over a bad network. This PR implements multiple features that should mitigate this issue:

  • Added the lifespan QOS parameter to joy_node.yaml
  • Decreased the msg queue size in joy_node.yaml
  • Added a joystick timeout watchdog to the main_control_node

@BergerKing333 BergerKing333 self-assigned this Nov 11, 2024
@BergerKing333 BergerKing333 linked an issue Nov 11, 2024 that may be closed by this pull request
Add timestamps to joy_node communications #314
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@BergerKing333 BergerKing333 marked this pull request as draft November 11, 2024 16:33
@Isopod00 Isopod00 added the enhancement New feature or request label Dec 4, 2024
@Isopod00 Isopod00 changed the title Adding lifespan QOS to joynode yaml. (WIP) Adding lifespan QOS to joynode yaml. Dec 4, 2024
@Isopod00 Isopod00 changed the title (WIP) Adding lifespan QOS to joynode yaml. Added lifespan QOS parameter to joynode.yaml, decreased the queue size, and added a safety watchdog to the main_control_node Jan 10, 2025
@Isopod00 Isopod00 changed the title Added lifespan QOS parameter to joynode.yaml, decreased the queue size, and added a safety watchdog to the main_control_node Joystick Safety Timeout Improvements Jan 10, 2025
@Isopod00 Isopod00 self-assigned this Jan 10, 2025
@Isopod00 Isopod00 marked this pull request as ready for review January 10, 2025 23:22
@Isopod00 Isopod00 merged commit ab87443 into main Jan 12, 2025
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@Isopod00 Isopod00 deleted the joy_node-lifespan branch January 12, 2025 18:38
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@Isopod00 Isopod00 Isopod00 approved these changes

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Add timestamps to joy_node communications
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@BergerKing333 @Isopod00