ROS-project

This repo has been created for the project associated to the Robotics course (2018/2019) at Politecnico di Milano.

Project Request

• Compute two different odometry and publish both as tf and odom topic:
  
  • using Differential Drive Kinematics
  • using Ackerman model
• Use dynamic reconfigure to switch between different published odometry.
• Use dynamic reconfigure to reset the odometry to (0,0) or to set to a specific starting point (x,y).
• Publish a custom message with odometry value and type of source.

Commands

In order to run this project it must be insert into a ROS envirnoment and the following commands must me applied into 4 different prompts:

• in the first prompt start ROS server by typing roscore
• in the second one do the following commands:
  • cd ~/catkin_ws/ which is the ROS environment folder
  • catkin_make to build up everything
  • rosrun project reader to run the package and the reader node
• in the third one open the graphical tool required to make dynamic_reconfigure work properly with
  rosrun rqt_reconfigure rqt_reconfigure
• the last one plays the bag via rosbag play bag_1.bag