Jacob Perron

pingall fails with default installation on Ubuntu 20.04

5

### Expected/Desired Behavior: Calling `pingall` with default topology succeeds without packet loss. ### Actual Behavior: Emulated hosts cannot reach each other. 100% packet loss. ### Detailed Steps to Reproduce the...

Not thoroughly tested.

ign-gazebo3/main homebrew INTEGRATION test failures (segfaults)

5

## Environment * OS Version: macOS * Source or binary build? 3465bbe ## Description Three new test failures over the last couple days: https://build.osrfoundation.org/job/ignition_gazebo-ci-ign-gazebo3-homebrew-amd64/113/testReport/ The follow two started today: INTEGRATION_each_new_removed...

Add cliff sensor support

5

At the very least the driver can publish a Boolean message signalling whether or not a cliff is detected. Alternatively, can also publish a custom message similar to the [Bumper](https://github.com/AutonomyLab/create_autonomy/blob/indigo-devel/ca_msgs/msg/Bumper.msg)...

Add ability to change mode

5

Could have a subscriber that listens to a custom message for changing the mode of Create (OFF, PASSIVE, SAFE, and FULL). Or as a minimum, have a parameter to the...

Update Create 2 URDF model

1

At least one missing part of the model are the light sensor links.

Improved undocking

5

Currently, publishing to the `undock` topic simply switches control of the robot back to the user (after the robot has entered the _docking demo_). It would be nice if, on...

Add ability to start built-in cleaning modes

1

I think a subscriber listening to a custom cleaning mode message will be good. Then we will also need a way to stop/pause any active cleaning behaviours. Proposal: ``` uint8...

Add support for battery state

3

Add ROS level API for the following [libcreate](https://github.com/AutonomyLab/libcreate) functions: ``` C++ uint16_t getVoltage() const; uint16_t getCurrent() const; uint8_t getTemperature() const; uint16_t getBatteryCharge() const; uint16_t getBatteryCapacity() const; ```

Reduce diagonal covariance values

2

I'm not sure if this is the most correct thing to do, but it resolves rendering issues in RViz. Connects to #55