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