Alars safety 2

[KKalem]

General:

• New "actionable geofence" that shows up as 2 actions: start and stop.
  • Start takes a list of geopoints (same thing as move_path) a ceiling and a floor altitude
  • If ceiling < altitude, they are both ignored.
  • consumes smarc_msgs.msg::Topics::POS_LATLON_TOPIC (geopoint, altitude=0 water level) as robot position and publishes smarc_msgs.msg::Topics::GEOFENCE_STATUS_TOPIC (smarc_msgs/msg/GeofenceStatusStamped)
  • node runs until stop action is called.
  • both start and stop actions complete with success immediately
  • node itself runs until stop is called
  • captain/health checkers can check the topic to see if vehicle is inside its fence, and if not, why.
  • Required: Geofence tasks SMARCAssets#231

Alars:

• some cleanup
• Added the new geofence checker to bringup
• BT now counts and limits number of failures allowed
• BT's feedback is actually useful. Hopefully less alttabbing in the field between sim and bt windows...
• To Be Continued