Notes (7/16)

Wheel encoders were reading backwards, so I switched them back to the way they were before, which was correct. I’m not sure what happened there.

For some reason, I can’t connect to the ROS master node remotely. I seem to be doing everything right. I can still ssh into the robot and view topic manually, but if I want to use ROS GUI tools, I’ll have to resolve this.

I attempted to teleoperate the robot. I found that the software e-stop enable works, but moving the joystick on the controller does not move the robot the cmd_vel topic has an appropriate command velocity, but the motors aren’t moving. It’s possible the wiring to the Sabertooth is disconnected. As I noted before, the timeout when the e-stop remote is powered down is too long.