Scoutsim Team Meetings¶

Split into discrete objectives A-H¶

Rough order:

A        F
C  D                  H
   E          G
 B

A: Teleop¶

• Keyboard control ROS Node
• Publishes to set_motors, etc
• Keyboard shortcuts (set_scan, etc)
• Start from teleop turtlesim code

B: Noise Generator and Odometry¶

• Noise generator functions as a util file within scoutsim
  • example, float add_gaussian_noise (float reading, float st_dev)
  • Consistent error (like for encoders)
• Odometry ROS Node
  • Takes in encoder readings
  • Publishes estimated (x, y, th) position

C: Images and Scoutsim Implementation of Sonar/Encoders¶

• Get top-down view of scout
  • Different numbers for every scout
• Make scoutsim handle sonar and encoders

D: Visualize sonar readings¶

• Separate ROS node

E: Display estimated position¶

• Should be an addon to scoutsim_node, so we can turn on an option to display a single scout's estimation and estimated trail

F: Walls¶

• Add to scoutsim visual
• Show collisions
• Add to sonar simulation
• Convenient way to edit map files

H: Clean up code¶

• Just need to do it.
• Note: do not make functional changes while editing style. Separate the commits.