Launch the bridge
ros2 launch thymioid main.launch device:="tcp:host=localhost;port=33333" simulation:=True name:=thymio0Launch the homework tasks:
# Launch task 1
ros2 launch robotics_hw2 task1.launch.xmlImplementation code can be found in task1_node.py
A MyT must be placed in the middle of scene as it might fall off the edge if it starts too close to it.
We did not face major issues and have no open questions.
# Launch task 2
ros2 launch robotics_hw2 task2.launch.xmlImplementation code can be found in task2_node.py
The "wall" scene must be loaded to test this controller.
We did not face any issues and have no doubts about our implementation.
# Launch last compulsory task
ros2 launch robotics_hw2 compulsory.launch.xmlImplementation code can be found in task3_node.py
The "wall" scene must be loaded to test this controller.
Multiple issues were encountered while doing the last task. Firstly, odometry was used to turn the robot around, it proved to be inconsistent and erroneous as the robot sometimes failed to fully turn around. Furthermore, when relying on odometry to move 2m away from the wall the distance sometimes was calculated wrongly, resulting in robot going past the target point.
Video: https://youtu.be/P73iTVwVQM4
# Launch last compulsory task
ros2 launch robotics_hw2 advanced.launch.xmlA MyT ust be placed in the "arena" scene to test this controller.
We first had some issues that the MyT got stuck in a corner and would not explore the whole scene but solved it by introducing random decision on where to move next.
Video: https://youtu.be/xdHU3pF584I