- Enabled execution of run_task_3 in main.py by uncommenting the function call.
- Updated turn_degree function to include a new version (turn_degree_v2) for enhanced rotation control.
- Adjusted the stable count threshold in turn_degree for improved stability detection.
- Replaced calls to turn_degree with turn_degree_v2 in task_3.py for better precision during rotations.
- Cleaned up commented-out code in task_3.py to streamline execution flow.
- Commented out run_task_3 in main.py to prevent execution during testing.
- Modified turn_degree function to set precision to True for improved control.
- Removed the unnecessary task_3/main copy.py file.
- Updated run_task_3 in task_3.py to improve gait file handling and control logic.
- Adjusted parameters for stability detection and added checks for descending phases.
- Updated task_test.py to focus on straight movement while commenting out previous commands.
- Refactored gait processing in main.py to load parameters from Gait_Params_up.toml and publish user gait files.
- Improved control logic in task_3.py to monitor Z-axis speed and detect climbing phases.
- Added functionality for straight movement after task completion.
- Cleaned up commented-out code and ensured consistent message handling.
- Reduce max_time parameter from 30 to 3 in follow_left_side_track function
- Fix side velocity sign in follow_left_side_track function
- Uncomment and update run_task_test in main.py
- Update initial heading in task_left_line.py
- Reverse the sign of side_velocity to move in the correct direction
- Uncomment run_task_1 and comment out run_task_test in main.py
- Update task_left_line.py to turn 90 degrees before following the left side track
- Update image saving path in ImageSubscriber class
- Remove unused imports and code related to task_4 and arrow detection
- Add import for run_task_test
- Comment out run_task_4 and uncomment run_task_test in main function
- Add support for two versions of horizontal line detection functions
- Update move_base_hori_line.py to use the selected detection version
- Modify example_robot_log.py and test/main.py to use the new detection version
- Update image saving path in rgb-camera/img-raw-get.py
- Improve logging and error handling in detect_track.py
- Comment out angle correction logic in go_straight function
- Adjust go_straight parameters in task_1
- Add success message for horizontal line calibration
- Update main function to include task_test
- Modify marker request response format
- Add pass_marker variable to main.py
- Update MarkerRunner initialization in Robot_Ctrl class
- Modify MarkerRunner class to accept pass_flag parameter
- Implement pass flag logic in MarkerRunner's send_request method
- Initialize ROS 2 context in main function
- Implement time compensation for different turn angles
- Adjust rotation thresholds and speed factors for better control
- Fix distance calculation and variable naming in go_straight function
- Enhance observation and debugging output
- Add odometry thread and message handler for localization data
- Update main control loop to incorporate odometry information
- Remove task 5 execution from main function
- Refactor task 5 implementation to be more modular
- Add new functions for turning, going straight, and circling
- Implement standing up and lying down movements
- Update task_1 to use new movement functions
- Decode QR code information from image processor
- Refactor main.py to run task_5 instead of task_1
- Integrate QReader for QR code detection and decoding
- Implement decode_qrcode method in ImageProcessor class
- Uncomment run_task_1 function call in main.py
