... | ... | @@ -697,6 +697,7 @@ Heading is equivalent to Yaw. But it needs to be specify as a quaternion, you ca |
|
|
|
|
|
**Explore** sample the Archimedean spiral. You can increment $`\theta`$ by $`\pi/4`$ to generate the waypoints until $`r`$ is superior to the $`radius`$ given as argument.
|
|
|
|
|
|
- we advise that you do a first implementation without taking into account when the robot get stuck and starting the spiral from the origin, but:
|
|
|
- you need to handle when the robot get stuck (you can re-use the solution from lab2)
|
|
|
- you need to make sure the robot start the spiral at hits current location, you can listen to the '/odom' topic.
|
|
|
|
... | ... | |