Feature/ekf diagnostics (#158)

hilary-luo · web-flow · commit 7b3dea90e39d · 2025-01-29T14:08:32.000-05:00
* Enable ekf node diagnostics

* Fix CI
diff --git a/clearpath_control/config/a200/localization.yaml b/clearpath_control/config/a200/localization.yaml
@@ -6,6 +6,7 @@ ekf_node:
     publish_tf: true
     two_d_mode: true
     use_sim_time: false
+    print_diagnostics: true
 
     frequency: 50.0
 
diff --git a/clearpath_control/config/a300/localization.yaml b/clearpath_control/config/a300/localization.yaml
@@ -6,6 +6,7 @@ ekf_node:
     publish_tf: true
     two_d_mode: true
     use_sim_time: false
+    print_diagnostics: true
 
     frequency: 50.0
 
diff --git a/clearpath_control/config/dd100/localization.yaml b/clearpath_control/config/dd100/localization.yaml
@@ -6,6 +6,7 @@ ekf_node:
     publish_tf: true
     two_d_mode: true
     use_sim_time: false
+    print_diagnostics: true
 
     frequency: 50.0
 
diff --git a/clearpath_control/config/dd150/localization.yaml b/clearpath_control/config/dd150/localization.yaml
@@ -6,6 +6,7 @@ ekf_node:
     publish_tf: true
     two_d_mode: true
     use_sim_time: false
+    print_diagnostics: true
 
     frequency: 50.0
 
diff --git a/clearpath_control/config/do100/localization.yaml b/clearpath_control/config/do100/localization.yaml
@@ -6,6 +6,7 @@ ekf_node:
     publish_tf: true
     two_d_mode: true
     use_sim_time: false
+    print_diagnostics: true
 
     frequency: 50.0
 
diff --git a/clearpath_control/config/do150/localization.yaml b/clearpath_control/config/do150/localization.yaml
@@ -6,6 +6,7 @@ ekf_node:
     publish_tf: true
     two_d_mode: true
     use_sim_time: false
+    print_diagnostics: true
 
     frequency: 50.0
 
diff --git a/clearpath_control/config/generic/localization.yaml b/clearpath_control/config/generic/localization.yaml
@@ -6,6 +6,7 @@ ekf_node:
     publish_tf: true
     two_d_mode: true
     use_sim_time: false
+    print_diagnostics: true
 
     frequency: 50.0
 
diff --git a/clearpath_control/config/j100/localization.yaml b/clearpath_control/config/j100/localization.yaml
@@ -6,6 +6,7 @@ ekf_node:
     publish_tf: true
     two_d_mode: true
     use_sim_time: false
+    print_diagnostics: true
 
     frequency: 50.0
 
diff --git a/clearpath_control/config/r100/localization.yaml b/clearpath_control/config/r100/localization.yaml
@@ -6,6 +6,7 @@ ekf_node:
     publish_tf: true
     two_d_mode: true
     use_sim_time: false
+    print_diagnostics: true
 
     frequency: 50.0
 
diff --git a/clearpath_control/config/w200/localization.yaml b/clearpath_control/config/w200/localization.yaml
@@ -6,6 +6,7 @@ ekf_node:
     publish_tf: true
     two_d_mode: true
     use_sim_time: false
+    print_diagnostics: true
 
     frequency: 50.0
 
diff --git a/clearpath_generator_common/test/test_generator_description.py b/clearpath_generator_common/test/test_generator_description.py
@@ -67,6 +67,7 @@ def test_samples(self):
                     sample,
                     e.args[0],
                 ))
+                continue
             # Try to Load Xacro
             try:
                 xacro.process_file(os.path.join(os.path.dirname(dst), 'robot.urdf.xacro')).toxml()
