marcus65001 / 412e2p2

CMPUT 412 Exercise 2 - Part 2

This repository contains all the code for Exercise 2 Part 2.

Usage

1. Clone the repository.
2. Build dts devel build -H $BOT.
3. Run led_emitter_node form dt-core:

dts duckiebot demo --demo_name led_emitter_node --duckiebot_name $BOT --package_name led_emitter --image duckietown/dt-core:daffy-arm64v8

4. Run dts devel run -H $BOT.

Nodes

• led_node: Provides custom service set_led, changes LED pattern.
• odometry_node: Subscribes to the velocity topic from kinematics_node, records the intergrated x, y, theta info for both robot and world frame.
• task_p2_node: Executes the tasks specified in Part 2.

License

Duckietown