course3.md

Exercise Section 3

• Edit the launch file
• Edit the callback method to extract the pillar coordinate with respect to the robot
  Notes:
  • angle_min = -135 deg; angle_max = 135 deg
  • seems like the coordinate system of husky is different from the pdf illustration: y is to the right
• Add geometry_msgs to CMakeLists.txt & package.xml and create a publisher on /cmd_vel
  • create setVel() to set Husky velocity
  • create DriveHusky() to publish the Twist message to Husky
• Drive Husky towards pillar with a P controller
• Add RobotModel & TF to RViz
• Visualize pillar in RViz