... | ... | @@ -699,7 +699,7 @@ Heading is equivalent to Yaw. But it needs to be specify as a quaternion, you ca |
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- 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:
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- you need to handle when the robot get stuck (you can re-use the solution from lab2)
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- you need to make sure the robot start the spiral at hits current location, you can listen to the '/odom' topic.
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- you need to make sure the robot start the spiral at hits current location, you can listen to the '/odom' topic. You can send the first goal from the callback.
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## Demonstration
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