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wheele_ros_cmds.md

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Wheele ROS commands

python setup_gps.py roslaunch ros_vehicle_model wheele_master.launch roslaunch circ_2dnav circ_move_base_nav.launch rosrun ros_vehicle_model wheele_local_planner.py sudo /sbin/ip link set can0 up type can bitrate 500000

rosrun ros_vehicle_model conv_cmd_vel.py

sudo ip link set can0 down

Notes, July 27, 2018

Goals:

  1. Leddar filter (ground, noise)
  • Calculated roll and pitch and broadcast base_link to laser transform Testing this did not give desired results. Ground elev did not seem to be lower than leddar. Next try setting leddar Z 0.3 m above base_link to get the appropriate lever arm effects. I just noticed that wheele_master.launch still used the static tf laser->base_link. Hopefully that explains it...
  1. Waypoints with cost map but no pre-loaded map