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NavCog3 for Cabot

Build

  1. Install CocoaPods.
  2. In the project directory, run pod install.
  3. install Carthage.
  4. In the project directory, run carthage bootstrap --platform iOS.
  5. Run git submodule update --init --recursive
  6. Open NavCog3.xcworkspace
  7. Build NavCog3 project with Xcode.

ROS Messages

Subscribed

  • /encoder: MotorMessage which replicates arduino_msg::Motor
  • /imu: IMUMessage which replicates geometry_msg::Vector3Stamped

Published

  • /Navcog/odometry: navcog_msg::SimplifiedOdometry
  • /Navcog/debug: std_msgs/String, some random debug info