p8_beta
See report for approach and observations.
Example usage
After having woken Jinx up at the usual starting position and
launching cwru_base, run the below.
Run this command to configure everything except the trajectory publisher and the steerer. This should open RViz with AMCL's current best guess; if the cloud of hypotheses covers a large set of possibilities, it may be desirable to manually take Jinx for a walk down the hall, to let her observe more features and thus shrink the cloud. The reason for this is that the steerer's starting point comes from AMCL, and too much uncertainty would produce unfavorable results.
$ roslaunch p8_beta jinx_amcl.launch
Run this command to make her start moving
$ roslaunch p8_beta jinx_vending.launch
Prompt
Repeat PS7, but this time using feedback with respect to the world, with estimates of pose that combine odometry and LIDAR-based localization.
One submission per group. Includes code, video and brief report with approach and observations.
Your video will hopefully demonstrate that Jinx is quite repeatable, even when subjected to disturbances.