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Use the real robot to perform the timekeeping advance and return

If you use a realistic robot to run script timed_out_and_back.py, it's only time and speed to estimate distances and angles. It can be predicted that the motion results differ from the results on the Arbotix simulator because of inertia (we have not established a physical model in the simulator)

1. First, stop all running emulators. Run your own bot's startup file. If you have an original Turtlebot (base of irobot Create), connect to the robot's computer via SSH and execute the following command:

Roslaunch Rbx1_bringup Turtleboe_minimal_create.launch

Or you can run a startup file that you create yourself and have your calibration parameters.

You can also use a secondary script that allows you to see the Turtlebot Combo measurement framework in Rviz, or skip this step if you are not using Turtlebot. Run this boot file in the SSH terminal of another computer that is connected to the Turtlebot:

Roslaunch Rbx1_bringup Odom_ekf.launch

We then configure the Rviz to display the combined measurement data (encoder + gyroscope), not just the/odom that shows the encoder data. If you have used Rviz in the previous tests, you can simply deselect the odometry display option and select the Odometry EKF display option and skip the steps below.

If Rviz is not running yet, run it in your workstation using the NAV_EKF configuration file, which simply pre-selects/ODOM_EKF topics to display the combined measurement data.

Rosrun Rviz rviz-d ' rospack find Rbx1_nav '/nav_ekf.rviz

The only difference between this profile and the previous configuration file is that it is now possible to display the combined measurement data in the/ODOM_EKF topic, rather than just publishing data from the wheel encoder on the/ODOM_EKF topic, you can choose between two display modes to compare their differences.

Finally, we run the timing forward as we did before and return to the script. Note that the script itself does not care whether we are running on the emulator or the real robot, it simply publishes the twist message to the topic/cmd_vel for use by any listener. This example shows us how Ros abstracts our lower-level operations in the motion control layer, and you can run the following commands on your workstation or on a robotic computer with SSH connections:

Rosrun Rbx1_nav timed_out_and_back.py.

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