Inputs are send via ft/get_inputs message.
Outputs are set with ft/set_output and ft/set_motor message.
-robo_explorer.py: Provides the Robo Explorer functions:
- Laserscan is faked by the Sonar Sensor.
You need to use the Robo Explorer with Wheels instead of Tracks because the Tracks are too inaccurate for Odometry.
I used the Wheel Setup from Mobile Robots 2.
+The world frame is "odom" since this setup is running without SLAM and amcl.
Requirements: