Odometry of Autonomous Vehicle

This repository contains the source code of the computation of the odometry of a 4-wheel autonomous vehicle.

Code Organization

• CMakeList.txt this file contains a description of the project's source files and targets
• info.txt this file contrains the registration number, name, last name of the authors
• package.xml this file contains a collection of metadata components
• launch/project.launch this launch file sets the values of node parameters and synchronizes the simulation time with the /clock topic
• msg/Odom.msg this file defines the custom odometry message Odom
• src/odom_node.cpp this executable contains the code of the initialization of the node, of the declaration and instantiation of the subscriber, service, publishers and transform broadcaster, and of the computation of the odometry and transform
• srv/ResetOdom.srv this file defines the service to reset the odometry

Installation

Prerequisites:

• Linux environment
• ROS noetic
• ROS Publisher on the /speed_steer topic or ROS Bag file

Steps:

1. unzip the tar.gz file
2. start roscore
3. run roslaunch first_project project.launch in the command line

Method for Odometry Computation

Upon reading a new Quaternion message, containing speed (m/s) and steering angle (rad), from the /speed_steer topic:

1. custom odometry message (x, y, theta, timestamp):
   1. the custom odometry message is computed assuming an Ackerman Steering model approximated to a bicycle, using 2nd order Runge-Kutta integration
   2. the custom odometry message is published
2. regular odometry message (Pose, Twist):
   1. the regular odometry message (Pose, Twist) is computed
   2. the regular odometry message is published
3. transform (base frame -> moving frame):
   1. the transform is comuted
   2. the transform is broadcasted