Log

Feb 13

I am planning to run the first field test of Jackal with the GPS navigation system on friday. Let's go over the configuration.

1. Jackal starts up with the lidar running, basic ekf of imu and encoders, driver to send twist commands, gps, and the remote control.
2. The Jackal_farmer node will be started with gps_field.launch. This will start up the gps ekf fusing the encoders, gps navsat_transform,imu and navsat_transform data. Secondly it will start the laser_filtering system but this data will not be used during this test. Third it will start up the usb camera for video log as one frame a second. The gps_nav node will also be started, this will allow the ps3 controller to give the green light to the navigation system to move to the test point. Lastly the rosbag system will start recording.
3. I will manually start the navigation stack.
4. Once all the systems are running I will issue the command for jackal to go to the GPS waypoint.