Instructions to run odometry package

1) simple odometry and robot movement

1. build the packages
'''
roslaunch odom_simple.launch
rosrun odom_to_trajectory path_odom_plotter.py
'''

2. To control robot movement:

'''
rosrun odometry robot_controller.py
'''
# change type of movement (go_forward,rotate,go_to_goal)

2) Odometry fusion (IMU + Encoders)

Requirements:

1. build the packages

2. Install robot_localization package
'''
sudo apt install ros-melodic-robot-localization
'''

To run odometry sensor fusion:

1.run the bag files or startup script on hardware

2.run the script
'''
cd odometry/shell scripts/
./odom_ekf_test.sh
'''