andreafinazzi / robotics-2019 Goto Github PK

Project team members:
	-871569, Grazioli, Enrico
	-868454, Finazzi, Andrea
	-865784, Colombo, Marco

The archive contains the ros package directory "odometry" structured as follows:
	-CMakeList.txt: automatically created by ros. It contains all the configurations used by ros to build the executables of the package such as dependencies, package files names etc.
	-package.xml: another ros generated file with the purpose of collecting package settings, dependencies, output.
	-frames.pdf: scheme of the tf tree.
	-[dir]msg: contains .msg files used to describe custom messages.
		-CustomOdometry.msg: message type published on "custom_odometry" topic.
				     It contains Odometry.msg information on computed odometry and a string specifying the odometry model adopted.
		-floatStamped.msg: message type used to read messages generated by the .bag files provided.
	-[dir]src: contains the .cpp source code files.
		-odometry_node: it's the only source file of the package and contains the odometry computation function and all the subscribing/publishing logic.
	-[dir]cfg: contains the .cfg python code file.
		-parameters.cfg: describes the set of parameters available in odometry_node. 
		
		
Parameters:	
	-odometry_model_mode: enumeration of boolean.
		-True -> Differential drive;
		-False -> Ackerman model.
	-odometry_reset_default: if set to true, set position to default values.
	-odometry_set_position: if set to true, set position to values expressed by the following two parameters:
		-odometry_x_position;
		-odometry_y_position.
	
	Note: odometry_node gives higher priority to the odometry_set_position parameter over odometry_reset_default, that is, if both *set* and *reset* params are set to true, odometry_reset_default will be ignored.	

TF tree structure:
	see frames.pdf file.

Custom messages:
	-odometry/floatStamped:
		std_msgs/Header header
		std_msgs/float64 data

	-odometry/CustomOdometry
		std_msgs/String odometryModel
		nav_msgs/Odometry odometry

Stratup command:
		rosrun odometry odometry_node
		rostopic echo /odometry
		rosbag play $path_to_bag$/bag_1.bag