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.

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