Day 05

Today:

• Quick overview of Neato odometry (just for the M/R section)
• Dead-reckoning
• Project work time

Neato Odometry:

See day 4 for the notes on this. I am going to start by reviewing this material.

Dead Reckoning:

Today we will be learning about a very simple procedure from navigating between two points called dead reckoning. The idea is to continuously recompute our position using velocity measurements, and then use these these positional estimates to refine the motor commands being sent to the robot.

Question for the Class: How would you write a program to do dead-reckoning with the Neato? What is the high-level strategy? What ROS functionality might you use? Any difficulties you might encounter?

Dead Reckoning in ROS: next, I will show a demo of doing dead reckoning with some built-in ROS facilities.

Quick startup of dead reckoning

$ roslaunch neato_simulator neato_tb_playground.launch

$ roslaunch neato_2dnav dead_reckoning.launch

$ roslaunch turtlebot_rviz_launchers view_navigation.launch