Abstract

This code is for final projects of MA5039 Perception and Estimation in Robotics. It is a sample code based on HyphaROS Minibot. This code activate a node "main" and the other sensor nodes. Main node subscribes three topics -- imu_data, odom, and scan. You can access data from three Callback functions in src/main.cpp. There is a maker for landmarks or targets. You can see it in rviz.

About us

Developer:

• Kuo-Shih Tseng
  Contact: kuoshih@math.ncu.edu.tw
  Date: 2018/10/22
  License: Apache 2.0

Compile the code

$ cd catkin_ws/src
$ git clone https://github.com/kuoshih/hypharos_minibot
$ cd ..
$ catkin_make

Or Download this this code to pi\catkin_ws\src.
Unzip hypharos_minibot.zip to replace the original code.

$cd catkin_ws
$catkin_make

Run the code

$roslaunch hypharos_minibot project_sample.launch

rviz

$rviz
Press "Add" button in rviz, then select "Marker"
Set fixed frame as "target"

Edit code

You can edit src/main.cpp for your project.

About Minibot

More information about Minibot can be found https://github.com/Hypha-ROS/hypharos_minibot.