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Project team members: -871569, Grazioli, Enrico -868454, Finazzi, Andrea -865784, Colombo, Marco The archive contains the ros package directory "odometry" structured as follows: -CMakeList.txt: automatically created by ros. It contains all the configurations used by ros to build the executables of the package such as dependencies, package files names etc. -package.xml: another ros generated file with the purpose of collecting package settings, dependencies, output. -frames.pdf: scheme of the tf tree. -[dir]msg: contains .msg files used to describe custom messages. -CustomOdometry.msg: message type published on "custom_odometry" topic. It contains Odometry.msg information on computed odometry and a string specifying the odometry model adopted. -floatStamped.msg: message type used to read messages generated by the .bag files provided. -[dir]src: contains the .cpp source code files. -odometry_node: it's the only source file of the package and contains the odometry computation function and all the subscribing/publishing logic. -[dir]cfg: contains the .cfg python code file. -parameters.cfg: describes the set of parameters available in odometry_node. Parameters: -odometry_model_mode: enumeration of boolean. -True -> Differential drive; -False -> Ackerman model. -odometry_reset_default: if set to true, set position to default values. -odometry_set_position: if set to true, set position to values expressed by the following two parameters: -odometry_x_position; -odometry_y_position. Note: odometry_node gives higher priority to the odometry_set_position parameter over odometry_reset_default, that is, if both *set* and *reset* params are set to true, odometry_reset_default will be ignored. TF tree structure: see frames.pdf file. Custom messages: -odometry/floatStamped: std_msgs/Header header std_msgs/float64 data -odometry/CustomOdometry std_msgs/String odometryModel nav_msgs/Odometry odometry Stratup command: rosrun odometry odometry_node rostopic echo /odometry rosbag play $path_to_bag$/bag_1.bag
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PoliMi Robotics 2019 course project.
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