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Week 2-3: Lab0 - Intro to ROS
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@zzx9636 zzx9636 released this 06 Feb 20:32
· 42 commits to SP2023 since this release
lab0
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Learn about vigilant mode.
  1. Get familiar with the hardware of the truck:
  • Turn the truck on and off.
  • Remote control of the truck.
  • Replace the battery.
  1. Get familiar with the software interface of the truck:
  • Connect to the truck via SSH.
  • Run the SLAM and controller nodes.
  • Play around with RViz visualization and the QRT control panel.
  1. Learn basic ROS sub/pub:
  • Subscribe to the Odometry topic and publish the control command.
  1. Learn ROS parameter server:
  • Set the parameters from the launch file and command line.
  • Set the parameters from yaml file.
  1. Write a simple P throttle controller and pure pursuit steering controller to reach a goal.
Assets 2
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