Kyle Stachowicz

Rework CMake configuration

2

## Description Rework CMake configuration and directory structure. This should speed up incremental builds, as we no longer need to relink the entirety of soccer (and what was previously the...

## Description Add a `spin_all` executor that allows us to deal with all messages currently in the queue. ## Associated Issue Issue #1558 ## Design Documents N/A ## Steps to...

#1647 does not properly implement gamepad control. We are merging it anyway due to time constraints.

## Description We should be able to run callbacks (like switching a network port) to parameter change events. ## Requirements - Allow attaching callbacks to parameter update events ## Design...

Here are the constants in question: https://github.com/RoboJackets/robocup-software/blob/73c92878baf960844b5a4b34c72804093f1ea459/soccer/WindowEvaluator.cpp#L15-L16 We want them to be declared using the new ROS parameters interface. An example of using the parameters interface: https://github.com/RoboJackets/robocup-software/blob/ros2/soccer/include/rj_vision_filter/params.hpp https://github.com/RoboJackets/robocup-software/blob/ros2/soccer/src/rj_vision_filter/params.cpp For the...

Here are the constants in question: https://github.com/RoboJackets/robocup-software/blob/73c92878baf960844b5a4b34c72804093f1ea459/soccer/KickEvaluator.cpp#L15-L18 We want them to be declared using the new ROS parameters interface. An example of using the parameters interface: https://github.com/RoboJackets/robocup-software/blob/ros2/soccer/include/rj_vision_filter/params.hpp https://github.com/RoboJackets/robocup-software/blob/ros2/soccer/src/rj_vision_filter/params.cpp For the...

[TODO] Add configuration variables for trajectory checking utilities

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Link to TODO, or file number/line: `TrajectoryUtils.cpp:82`

As an easy optimization, in lots of places we push back into a vector without first calling reserve (even though we usually have at least a good lower bound on...

[TODO] Tuning Motion Command

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Reimplement a "tuning path" that exists just for motion control tuning. Pull request: #1495 Link to TODO, or file number/line: https://github.com/RoboJackets/robocup-software/pull/1495/files/d6cb53a8bfb46daed7e9affc14c9c3c72290a8d4#diff-db24bbfb7d7293fe61d2ee3afba70178R177

Backport `spin_all` and use it for temporary executors.

1

Currently we are using spin_some or `spin()` in a separate thread for our temporary executors. This should technically really be replaced with a `spin_all()`, which has been added to rclcpp...