Monday, 5 December 2011

Omni and ROS

Today I had omni_bot listening to the ROS topic of cmd_vel/twist we were trying to drive in a square it worked better than expected but still needs work the steering accuracy is to low and the speed is to slow
to do
Steering chains need a tensioner
PID loop for steering (use loop time!!!!)
move cmd_vel publisher to zeno
start base link /.odom publisher

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