We want to make sure that you
Linux
, ROS1
and git
$ sudo apt install ros-noetic-gazebo-ros-* ros-noetic-lms1xx
$ cd ~/catkin_ws/src
$ git clone https://github.com/husky/husky.git
$ cd ..
$ rosdep install --from-path src --ignore-src
$ catkin build
$ source devel/setup.bash
Start the main launch file for the husky robot using:
roslaunch husky_gazebo husky_empty_world.launch
The estimated location of the robot is provided by the Extended Kalman Filter output: it is published on /odometry/filtered
.
$ rostopic echo /odometry/filtered
The robot velocity can be set by publishing a Twist
message to /twist_marker_server/cmd_vel
by:
rostopic pub /twist_marker_server/cmd_vel geometry_msgs/Twist
tab
twice10
hzYou can set a forward velocity, s.a.:
$ rostopic pub /twist_marker_server/cmd_vel geometry_msgs/Twist "linear:
x: 0.2
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0" -r 10
Write a C++ node which makes the robot drive to the point at position x = 10.0
and y = 1.0
in the odom
frame.
Your node has to
/odometry/filtered
/twist_marker_server/cmd_vel
The correct location is reached when the robot is within 0.5 m of the target location, e.g.
$ rosrun tf tf_echo odom base_link
- Translation: [10.254, 1.324, 0.000]
- Rotation: ...
Do not write something too complex: please keep it simple.
And please follow code styles described in http://wiki.ros.org/StyleGuide, http://wiki.ros.org/CppStyleGuide and http://wiki.ros.org/PyStyleGuide.
README.md
Add a README.md
file describing:
maug
(Maurice Gohlke) and ddimarco
(Daniel Di Marco) as collaboratorsSend us the link to the repository via email at maurice.gohlke@farming-revolution.com.