Real-time tracking and visualization of mobile robot motion in ROS-Tutorial Link in Description

Here is an almost one-hour tutorial on how to implement from scratch a dead-reckoning method in Robot Operating System (ROS) and Python for tracking mobile robot's position and orientation (pose) and for displaying in real-time the robot pose in RViz visualization software. We explain how to write Python nodes from scratch on a host computer and how to implement algorithms in Arduino for reading encoder values and controlling motors. We use a small mobile robot prototype as a test case. Arduino sends encoder readings to the host PC via Bluetooth. The ROS node on the host PC implements a dead reckoning algorithm and computes a pose and a quaternion that are used to form an odometry object. The odometry object is broadcasted to RViz which displays the robot motion in real-time. All the developed codes are posted online on GitHub.
RUclips Tutorial:
• Dead Reckoning in ROS ...
GitHub page:
lnkd.in/gisfsHtX

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RUclips Tutorial:
ruclips.net/video/M8BlIjaz7pU/видео.html
GitHub page:
lnkd.in/gisfsHtX

[@aleksandarhaber]

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