Lander align - #658
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Co-authored-by: kushalsodum <kushalsodum@users.noreply.github.com> Co-authored-by: MyCabbages4 <MyCabbages4@users.noreply.github.com>
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Summary
Closes #(Your issue number here)
What features did you add, bugs did you fix, etc?
WIP autonomously align rover to lander face using RANSAC and P-controller.
Did you add documentation to the wiki?
No, WIP.
How was this code tested?
Summarize how you tested this code. Your objective here is to prove to the reviewers that this code actually works without them having to run it themselves. It is often helpful to include screenshots, tables, graphs, and/or a short write-up of testing procedures. Results can be either from sim, the robot, or both depending on what you think is sufficient for the feature you added.
RANSAC tested by visualizing the plane normal and location in sim/rviz, controller hasn't been tested yet.
Did you test this in sim?
Tested RANSAC, not the controller.
Did you test this on the rover?
No
Did you add unit tests?
Rudimentary visualization for RANSAC accuracy.