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BCLab-UNM / SC2

Swarmathon Team Code for the NASA Space Challenge 2 Competition
MIT License
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Added EKF to merge wheel encoder odom and imu #103

Closed johncarl81 closed 3 years ago

johncarl81 commented 3 years ago

Created EKF to merge IMU from /imu and Odometry from wheel encoder /scout_1/odom.

This runs as part of launching scoot.launch

Also added launch files for gmapping and hector for testing purposes.

Carter90 commented 3 years ago

@NOTE: will need to do the true pose call in scoot's score and point scoot to use the new real topic for odom

Carter90 commented 3 years ago

How did you want me to run it? roslaunch ./launch/scoot.launch "search:=searchRandomWalk" When I used roslaunch ./launch/qual_round_1.launch #fyi it uses launch/scoot.launch


ERROR: cannot launch node of type [robot_localization/ekf_localization_node]: robot_localization
ROS path [0]=/opt/ros/melodic/share/ros
ROS path [1]=/home/carter/SC2/src/localisation
ROS path [2]=/home/carter/SC2/src/navigation
ROS path [3]=/home/carter/SC2/src/obstacle
ROS path [4]=/home/carter/SC2/src/scoot
ROS path [5]=/home/carter/SC2/src/scripts
ROS path [6]=/home/carter/SC2/src/sensor_monitor
ROS path [7]=/home/carter/SC2/srcp2-competitors/ros_workspace/install/share
ROS path [8]=/opt/ros/melodic/share

Might want to resolve all of the localisation or localization to be consistent.

Also was there a package that needs to be installed?
sudo apt install ros-melodic-robot-localization