Challenge 7: Calculate velocities towards path traversing

Preparation

Go to your repository, return in master branch and create a new one:

git checkout master
cd ~/catkin_ws/src/autonomous_systems_architectures/
git checkout -b challenge_7

Go to the autonomous_exploration/config/autonomous_explo.yaml and change these:

• calculate_target: True
• velocities_architecture: 'motor_schema'

Task

The task is to fill the velocitiesToNextSubtarget function located here using the robot pose (x,y,theta) and the pose of the next subtarget (x,y). Obviously basic mathematics and trigonometry is required. The robot must constantly produce velocities for the next subtarget, except the final target has been reached.

Hints for coding assistance:

• 1
• 2

Also fill the produceSpeedsMotorSchema here and assign the final velocities equal to [l_goal, a_goal] (the velocities produced by the velocitiesToNextSubtarget function).

The robot must follow the produced path as faithfully as possible. You will check this in rviz.

Points

10 out of 100