Selecting Feedback

Three types of state-feedback can be selected,

• GPS + Compass
  • local position from GPS with starting pose as origin and Compass for heading direction.
• Encoder + Compass
  • local position from Encoder count using dead-reckoning and Compass for heading direction.
• Pure GPS
  • local position from GPS with starting pose as origin and tangent angle between successive GPS measurements for heading direction.

The required feedback can be set by interacting to dynamic-reconfigure-server written for this purpose. A dynamic-reconfigure-client feedbackSet_client.cpp can be used to change the feedback. This client accepts a command line argument (single digit integer) for setting the feedback

feedbackSet_client Flags

0 : GPS + Compass 1 : Encoder + Compass 2 : Pure GPS

Syntax

rosrun state_feedback feedbackSet_client <Flag>

Example

• To select GPS + Compass

  rosrun state_feedback feedbackSet_client 0
  

• To select Encoder + Compass

  rosrun state_feedback feedbackSet_client 1
  

• To select Pure GPS

  rosrun state_feedback feedbackSet_client 2
  

Using Bash-Script

As typing in the command rosrun ... is too tedious, a bash-script called select_feedback.sh is written which would give the same functionality as mentioned above. Same flags(0, 1, 2) as mentioned above can be provided to the bash-script to change the gains. Additional flags for more intuitive setting is also provided using bash-script

Usage

• To select GPS + Compass

  select_feedback 0
  

  (or)

  select_feedback -gps_cmp
  

• To select Encoder + Compass

  select_feedback 1
  

  (or)

  select_feedback -encoder_cmp
  

• To select Pure GPS

  select_feedback 2
  

  (or)

  select_feedback -gps
  

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