Set Yaw Action Server Architecture

[aniket11bh]

• Action server completed for sending goal.
• Package all_controllers to include all types of controllers in future
• Removed clash of controllerResult.msg file.

TODO :

• Shift fuzzyControl.py file to manual_control package.

[icyflame]

@aniket11bh You don't need to comment out logdebug lines. Uncomment these lines, so that if the node is run in verbose mode then we will be able to see these lines as well. Otherwise these lines won't show up.

[icyflame]

Code works as expected. The graphing inside rqt_plot still does not work. @aniket11bh is finding solutions to this. We will be able to merge this PR after that change.

[icyflame]

LGTM

[aniket11bh]

As one of the uses of actionlib package is that if the service takes a long time to execute, the user might want the ability to cancel the request during execution or get periodic feedback about how the request is progressing.
But it is not working right now, (as these lines are commented out). And the problem is that they are not working simultaneously with our present code :

if self._as.is_preempt_requested():
        rospy.loginfo('%s: Preempted' % self._action_name)
        self._as.set_preempted()
        success = False
        break

[icyflame]

@aniket11bh So, why don't you uncomment it and see what the problem is?

I remember that we had extensively debugged this using print statements and had hit a wall, a few days back.

I don't understand why it is not working, maybe we are missing something.

[icyflame]

We can re-write this code later so as to use ROS' Parameter server to get these parameters.

The values are defined in a yaml file such as this one config/dynamics_g500.yaml and then accessed using a function in Python like getParams

[icyflame]

@aniket11bh

Checked this on my machine, It works fine for most part. One of the problems that is still there is that on pressing Ctrl+C inside the client script, it says You pressed Ctrl+C but doesn't preempt the goal. This is not that big of an issue, so, I am going to go ahead and merge this PR in, but let's work on solving this as soon as the next dev cycle begins.

[icyflame]

Merged in 051180f