Purpose
We continue to reinforce the ideas of TFs or transforms. They are hard to follow but essential to understand. We will tackle this chapter in two parts.
Do this
Read Chapter 10 and as background refer to 10 part1: Localizing in parallel (and use the code I provided!). Read the section called “Localizing” and we will get to “Navigating” later. There’s not a lot of code to write, but I would like you to actually run all the examples and try to understand what is going on.
Deliverables
Please answer the following questions!
- Why is it important to get a good initial localization? Why is that needed at all? Could AMCL work without it?
- This one is a little tricky. When I am using AMCL and move_base, can I use teleop to cause the robot to crash into the wall. Give your reasoning! You might need to try this to get a good answer. It will be a very interesting experiment.
- Please write one or two things that are still confusing to you; if it’s all clear, then please write one or two major takeaways.