Robotics course 2019

Abstract

The course project is divided in two parts.

First part

• Compute two different odometries and publish both as tf and odom topic
  • Differential Drive Kinematics
  • Ackerman model
• Use dynamic reconfigure to switch between different published odometry
• Use dynamic reconfigure to reset the odometry to (0,0) or to set to a specific starting point (x,y)
• Publish a custom message with odometry value and type of source

Second part

Compute accurate and high frequency GPS position fusing:

• Odometry (from wheels encoders and steering angle)
• IMU (Piksi Multi board)
• GPS (Piksi Multi board)

Professors & Tutors

• Matteo Matteucci, DEIB department, Politecnico di Milano
• Simone Mentasti, DEIB department, Politecnico di Milano