roscd lab1or alternatively you can manually cd to the directory. The command roscd is useful, however, because you can use it to go to the source directory for any ROS module. Explore ros a little bit and find out where roscpp is. Question: What is the absolute path of the roscpp module? What does roscpp do? You should download the fanboat_ll from the course website. This package contains a node and messages that allow you to control the IMU on the fanboat. Put this in your workspace and start exploring this node. Question: What is the name of the nodes, the topics, message types, etc that allow you to control the fanboat? How can you start the node(s) needed to control the fanboat? In order to communicate with the fanboat you need to use the pair of xbee radios. Simply plug in the radio into a usb port on your computer. Before you connect the battery remove the propellers from your fanboat to make sure that if you inadvertently start the motors the fanboat will not take off. Question: By examining the source code, what port/file is the radio located on by default? You may need to change this to work with your computer configuration. Once you get this configured properly you should be able to start receiving messages from the IMU after starting this node. Note that when the lights are blinking on startup the IMU is going through a calibration process. Keep it level and do not move it while this is happening.
rqt_plot /fanboatLL/yawIf you separate fields by commas they will be plotted on one graph, if you use spaces instead, they will be plotted in different graphs. Question: What are the min and max values for the yaw? Which direction causes an increase in yaw? Also explore pitch and roll and discuss how they work. Question: What is the maximum rotational rate that the IMU can measure? Is it the same for positive and negative rotations? How did you determine this?