Only tested on Linux
Only run if computer has been powered off
slcand -c -o -s8 -t hw -S 3000000 /dev/ttyUSB0
ip link set up slcan0
should be able to see slcan0 if you run ifconfig.
Currently ran by (from ~/ros2_ws)
source install/setup.bash
ros2 launch rmd_test experiment.launch.py
which will get the nodes all set up. Then, to start the desired trajectory (and hence the experiment)
ros2 topic pub --once /experiment/go std_msgs/msg/Bool "{data: 1}"
this is due to the current architecture being the time generator always being zero until the "go" command changes the flag.
I did experiment with the transmission queue message length. I set it to 1 and had good results:
ip link set slcan0 txqueuelen 1
(I also ran all the setup commands with sudo). I request a lot of stuff from the servo in the reader, i.e. I ask for the angle or velocity until I get the correct reply, it's likel I could clean this up and make it a little smarter