SAR '26#167
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it should actually be `/control/lights`, but i guess that changed at some point??? oh well
to prevent us from seeing the rover chassis/antenna post as an obstacle
onkoe
added
tests
we don't use it
now, it drives smoothly without problems :D
it was causing us to run into things lmao the wheels were way too fast when doing this, and we didn't need it. maybe only do this if `use_sim := True`???
also, lower it to 1.1m from 1.2m. worked a bit better for us, iirc
they helped save us time. might do so again in the future. note that these are slop-made. analyze and understand the results thoroughly; don't just trust em
logbasem
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Left a couple comments of concerns I noticed, other than that looks good on a skim. Was there for most of these changes so I mean most of them are probably fine.
conmascheetos
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From a very brief skim / cursory glance, looks good to me!
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Contains fixes and changes made from wheels-on testing in preparation for SAR '26.
Changes
lib/feedback: use wrapping checksum math on Wheelssrc/drive_launcher: tweak Nav2 parameterssrc/navigatornavigator_node: use new lights service path (/lights_service... idk why it changed but oh well)navigator_node: openasynciotask before running navigator (not sure if we need this on other Python nodes, but they all seem to work fine in comparison???)utm_conversion_node: use working QoS settings forodomandgpssrc/soro_lidar: set a minimum range on the LiDAR detection. otherwise, we detect our chassis/GPS antenna as an object to avoid