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API review

Proposer: Kevin

Present at review:


I'd like to integrate a new system to the PR2 to help verify the transmission status of each joint. We've been using a similar system in the burn in room, and it has been remarkably effective at catching broken belts and miscalibrated joints.

For Diamondback, I've extended the pr2_mechanism_diagnostics stack to check the transmissions of each joint using the mechanism_statistics topic and the URDF. I've tested this system using the regression tests that we used for the burn in system, and I've been using it on physical hardware for the past few weeks.

I've documented the ROS API on the package wiki page (no code API supported).

Question / concerns / comments

Enter your thoughts on the API and any questions / concerns you have here. Please sign your name. Anything you want to address in the API review should be marked down here before the start of the meeting.





Meeting agenda

To be filled out by proposer based on comments gathered during API review period


Package status change mark change manifest)

2020-09-19 13:01