For this challenge, you are going to mimic a rideshare program with your car! There will be two sections in the track: a "pickup" area and a "drop-off" area. The pickup area will have an AR tag that will correspond to a set location in the drop-off area. You will have to localize using your map to reach the correct drop-off location. Once you reach your goal, you should return to the pickup area, where you will read a different tag and start the process again. This means that you will have to set both the drop-off location as a goal, as well as the starting location (the AR tag will always be in the same place).
You are picking up three "customers": 1, 2, and 5 (this is the number the AR tag returns when read). These will be randomly given to you at the pickup point (one at a time) and they have to be returned to their "houses". The order of the houses, from left to right, is 1 -> 2 -> 5 (2 is the corner spot). After you have dropped off the last customer, have your robot return to the pickup spot and stop.
The topic you will need for the lab is
There will also be obstacles in the track, so you will have to integrate your Potential Field control as well.
THERE IS NO STARTER CODE FOR THIS LAB - flex those coding muscles! ᕙ〳 ʘ – ʘ 〵ᕗ
Securing the Bag
Navigate to the Installation: Google Cartographer on our website and follow the new instructions there. Once you have done this, you will need to record a map. You can find instructions for how to do this in References, in the Cartographer section under "Running off of a Rosbag".
After you have done this, read through the Particle Filter section of References for instructions on how to work with the maps you have made (like looking at the relative X and Y values of your current position).