Functions
In the script wheelencoder.py, function calibration(node) is used to do wheel radius calibration. To start with, you need to slightly move the robot so that the node can get the initial tick number. Then put the duckiebot at the start point and enter 's'. After driving for a certian distance, enter 'f' to finish calibration and enter the distance from start to finish position(in meter). The sript will automatically output the wheel radius.
You should delete line calibration(node) in the main function if you don't need to do calibration.
Execution
1.Build docker image on duckiebot
Run command
dts devel build -f -H <robot_name>.local
Replace <robot_name> with name of your duckiebot.
2.Start docker container
Run command
dts devel run -H <robot_name>.local
Replace <robot_name> with name of your duckiebot.