https://github.com/giuliovv/scout_odometry

Odometry read of Agilex Scout
https://github.com/giuliovv/scout_odometry

robotics ros

Last synced: about 2 months ago
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Odometry read of Agilex Scout

• Host: GitHub
• URL: https://github.com/giuliovv/scout_odometry
• Owner: giuliovv
• License: mit
• Created: 2021-04-17T21:32:49.000Z (almost 4 years ago)
• Default Branch: master
• Last Pushed: 2022-03-26T16:23:51.000Z (almost 3 years ago)
• Last Synced: 2024-04-15T23:09:04.606Z (9 months ago)
• Topics: robotics, ros
• Language: C++
• Homepage:
• Size: 15 MB
• Stars: 1
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

Awesome Lists containing this project

README

        


  :robot: Agilex Scout odometry :robot:



Group project for Polimi Perception, localization and mapping for mobile robots course 20/21.

The second part of the project, SLAM based on LIDAR and odometry sensor fusion is here: robotics_second


Files:


1. Bags folder → contains the bags provided. 

2. Cfg folder → parameter.cfg that contains the configuration of the dynamic reconfigure server. 

3. Launch folder → robotics_first.launch is the launch file that starts everything. 

4. Msg folder → CustomOdometry.msg is the custom message & MotorSpeed.msg was provided to 

read the speeds from the bag.  

5. Src folder → agile_tf.cpp generates the tf of scout odom, baseline_calculator.cpp calculates the 

apparent baseline and the gear ratio, tf_publisher.cpp generates the tf of our odom, 

odometry_functional.cpp calculates the odom, does the dynamic reconfiguration and hosts the 

service to reset, twist.cpp synchronizes the messages of left and right front wheels. 

6. Srv folder → ResetToPose.srv is the definition of the service to reset to a given pose. 

Launcher:


```shell

roslaunch robotics_first robotics_first.launch

```