A package for recording ground truth poses of a theodolite with the Warthog robot.
Clone the repository in your ROS2 workspace and build it.
git clone git@github.com:norlab-ulaval/theodolite_pose.git
./theodolite_ground_truth.sh
ros2 launch theodolite_pose theodolite_pose.launch.py
Subscribe to the /theodolite_master and publishes the topic /theodolite_pose containing the ground truth pose in the theodolite frame.
Then compute the calibration aiming prism1, prism2 then prism3 on the same channel 1 and going back to the prism1 to publish the theodolite to map transformation (cf Transforms).
ros2 launch theodolite_pose icp_theodolite_pose.launch.py
Subscribe to the /icp_odom and publishes the topic /icp_theodolite_pose containing the icp odometry in map frame at prism1 position instead of base_link.
