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# System prepended metadata

title: 'Corrosion Mapping Raster Scanning Topics, Services and Todo'

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Steps to launch auto corrosion mapping:
1. Set probe diameter /set_joint_angle_value std_msgs/Int32 (IMPORTANT MUST BE SET BEFORE STARTING LAUNCH_SCRIPT)
2. /increase_raster_speed, std_srv::Trigger increase between 25mm/s and 300mm/s. Increases by 25mm/s everytime.
3. /decrease_raster_speed, for same
4. /stroke_length std_msgs/Int16, for scanning length (IMPORTANT MUST BE SET BEFORE STARTING LAUNCH_SCRIPT), BETWEEN 10 and 480
5. /launch_script, std_srvs::Trigger
6. /abort_behavior_tree, std_srvs::SetBool, Use:"data: true"
7. /scan_speed pub for raster_speed has std_msgs::Int32, for UI divide by 3 to show mm/s

IMPORTANT!!!!!!!
Before calling /launch_script, make sure, to call /set_joy data:False, also call /crawler_control_node/stop_teleop


GUI Button on Click Run

Start Raster Scan
    
    1. /set_joy data:False joystickonoff_ SetBool
    2. /crawler_control_node/stop_teleop crawler_stop_srv_  Trigger
    3. /start_raster_scanning start_raster_scanning_srv_ Trigger


Abort Raster Scan
    
    1. /abort_raster_scanning abort_raster_scanning_srv_ Trigger
 