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Assignment 1
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<------------------------------------------------>
Assignment 1:
$ roslaunch ras_lab1_launch kobuki_lab1.launch
<------------------------------------------------>
$ rostopic type /kobuki/adc
ras_lab1_msgs/ADConverter
$ rosmsg show ras_lab1_msgs/ADConverter
uint16 ch1
uint16 ch2
uint16 ch3
uint16 ch4
uint16 ch5
uint16 ch6
uint16 ch7
uint16 ch8
<------------------------------------------------>
$ rostopic type /kobuki/encoders
ras_lab1_msgs/Encoders
$ rosmsg show ras_lab1_msgs/Encoders
int32 encoder1
int32 encoder2
int32 delta_encoder1
int32 delta_encoder2
int32 timestamp
<------------------------------------------------>
$ rostopic type /kobuki/pwm
ras_lab1_msgs/PWM
$ rosmsg show ras_lab1_msgs/PWM
std_msgs/Header header
uint32 seq
time stamp
string frame_id
int32 PWM1
int32 PWM2
<------------------------------------------------>
$ rosmsg show geometry_msgs/Twist
geometry_msgs/Vector3 linear
float64 x
float64 y
float64 z
geometry_msgs/Vector3 angular
float64 x
float64 y
float64 z
<------------------------------------------------>
Task 1:
$ rosrun ras_lab1_open_loop_control open_loop_controller.py
Task 2:
$ rosrun ras_lab1_cartesian_controller cartesian_controller.py
Task 3:
$ rosrun wall_following_controller wall_following_controller.py
<------------------------------------------------>