The autonomous subsystem has some problems. I believe a cleanup/refactor will help me understand the subsystem better and also squash some bugs, namely:
- obstacle-detection node crashes at startup
- autonomous-control node doesn't die cleanly
- auto-drive crashes after orienting robot
- auto-home spins robot and then says it's home, no matter where it's actually positioned
- autonomous nodes are tied to Gazebo which prevents us from rolling out on real hardware or other sims
The autonomous subsystem has some problems. I believe a cleanup/refactor will help me understand the subsystem better and also squash some bugs, namely: