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Robotics Project - Part 1

This repository contains the first part of the project done in 2021/2022 Robotics Course at Politecnico di Milano.

Build files

catkin_make

Run the subscriber:

rosrun project1 odometry

Run the topics in bag X (from src folder, having put the bags in a folder called "bags"):

rosbag play bags/bagX.bag

See content of a topic:

rostopic echo

Launch project

roslaunch project1 project1.launch

Calibration

rosrun project1 calibration
, are respectively the wheel radius and the encoder resolution

Reset odometry

rosrun project1 reset_odometry
, , are the three float parameters to be passed to set the new pose

Dynamic reconfigure

rosrun dynamic_reconfigure dynparam set odometry int_method [0,1]

Useful tools

rqt_graph
rosrun plotjuggler plotjuggler
rosrun rqt_tf_tree rqt_tf_tree
rviz