theodolite_pose

A package for recording ground truth poses of a theodolite with the Warthog robot.

Installation

Clone the repository in your ROS2 workspace and build it.

git clone git@github.com:norlab-ulaval/theodolite_pose.git

Usage

Execute the theodolite_ground_truth script

./theodolite_ground_truth.sh

Launch files

Launch the theodolite_pose node

ros2 launch theodolite_pose theodolite_pose.launch.py

Subscribe to the /theodolite_master and publishes the topic /theodolite_pose containing the ground truth pose in the theodolite frame. Then compute the calibration aiming prism1, prism2 then prism3 on the same channel 1 and going back to the prism1 to publish the theodolite to map transformation (cf Transforms).

Launch icp_theodolite_pose node

ros2 launch theodolite_pose icp_theodolite_pose.launch.py

Subscribe to the /icp_odom and publishes the topic /icp_theodolite_pose containing the icp odometry in map frame at prism1 position instead of base_link.

Transforms