Florian Vahl
Florian Vahl
We now have an extrinsic calibration, that works quite well. But an automatic optimization would be cool.
Relevant issue: https://github.com/ros2/rclpy/issues/850
Currently, not an issue, because I think most issues with callback groups are ironed out. We could replace a bunch of multithreaded executors if #176 is resolved.
I have checked all ones which were fine without a sim param at first sight. This is mainly the case for sim related launch files that run only in simulation...
I think there is a larger rabithole at this point. Because the transformer and also the normal `look_at` calls in the head behavior are off due to the sea. Therefore...
Of we try to redesign or calibrate the seas that they are only shock absorbers for very high loads and stay quite stiff and centerd while normal use.
Maybe the most precise why would be to add an magnetic encoder inside the sea which estimates it's torsion.
I would go for an additional transform for the sea consisting of the difference of the IMU measurements. (To be evaluated.)
> This tool has already been introduced in the `bitbots_template_repository`. However the following parameter-files need to be replaced: Not all parameter files need to be replaced tho! Only one template...
Currently the vision doesn't publish e.g. balls that are droped due to being above the field boundary. This should be discussed as they are currently in the color coded debug...