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C++代写 | ELEC230 ROBOTICS SYSTEMS Assignment 2

C++代写 | ELEC230 ROBOTICS SYSTEMS Assignment 2

 这个作业是用C++继续完善和开发机器人系统

ELEC230  
ROBOTICS SYSTEMS  
Assignment 2  
tf, Rviz  
Module  
ELEC230  
Coursework name  
Component weight  
Semester  
Assignment 2  
30%  
2
HE Level  
6
Lab location  
Due to covid-19 lock down, there is no access to laboratory.  
Individually  
Work  
Timetabled time  
Suggested private study  
Assessment method  
Submission format  
Submission deadline  
Late submission  
Resit opportunity  
Marking policy  
Anonymous marking  
Feedback  
10 hours  
10 hours including report writing  
Individual, formal word-processed reports in addition to code  
Online via VITAL  
23:59 on Sunday 17th May 2020  
Standard university penalty applies  
August resit period (if total module failed)  
Marked and moderated independently  
No  
On document submitted  
Understanding publisher and callback functions in ROS.  
Understanding and Implementing tf transformation system using  
robot simulation, Gazebo and Rviz  
Learning outcomes
Marking Criteria  
Section  
Indicative characteristics  
available Adequate / pass (40%)  
Marks  
Very good / Excellent  
Appropriate use of technical,  
mathematical and academic  
terminology and conventions.  
Word processed with consistent  
formatting.  
Pages numbered, figures and tables  
captioned.  
All sections clearly signposted.  
Correct cross-referencing (of  
figures, screenshots, etc)  
Including readme files and well  
documented code  
Contains cover page  
information, table of contents,  
sections with appropriate  
headings.  
Presentation  
and structure  
20%  
Comprehensible language;  
punctuation, grammar and  
spelling accurate.  
(report and  
code)  
annotations legible, figures and  
screenshots numbered and  
presented correctly.  
documented code  
Evidence of considerable self-  
written code.  
Design decisions justified with  
alternatives given.  
Clear presentation and  
explanation of code, including  
package.xml, CMakeLists.txt and  
all other files.  
Evidence of understanding ROS  
concepts  
Method, code  
documentation  
and  
30%  
30%  
Code documented in full, justifying  
and explaining any decisions.  
Correct Syntax and semantics used.  
Well-structured code in all files.  
Clear explanation of choice of  
variables and set values.  
implementation  
Simulations demonstrate that turtle  
is functioning correctly.  
Tests indicate that there are no  
problems and that the package is  
fully functional.  
Results  
Simulation results present for  
each task and well annotated.  
Results of full system in both  
ROS and Turtlesim presented.  
Results for each task  
accompanied by a commentary.  
Screen shots of results  
presented.  
Discussion on how the system was  
fully tested.  
Discussion  
20%  
Discussion on what worked and  
what didn’t.  
Critical assessment on the  
created package strength and  
weaknesses
ELEC 230 ROS Assignment 2 (2019-2020)  
Assignment Overview  
The goal of this assignment is to implement a proportional controller to drive the turtlesim a (simulated)  
robot using ROS and send it to a target position.  
In this assignment, you will create a ROS package and write the code that will drive the turtlesim around  
with a simple proportional controller algorithm to reach a target position passed to the node through a  
launch file.  
Assignment Preparation  
Before you start this assignment, you should make sure that you understand the concepts in ROS  
tutorials and all the lecture slides including lecture 9 slides. In addition, go over all the code samples and  
tutorials relevant to tf, Rviz from lectures and ROS wiki. Make sure you understand them thoroughly.  
Make sure that you have already downloaded  
1
2
) Turtlesim packages on your machine and update it if you have already installed previously.  
) ROS package template (you can git clone from  
Assignment Outline  
1
2
. Make a new ROS package called send_totarget, with the appropriate dependencies.  
. Your task is to write the send_totarget node. The node should implement a simple proportional  
controller algorithm to send the turtlesim to a target position.  
3
4
5
. You will need to implement code to drive the turtlesim forward/backwards and steer it  
clockwise/counterclockwise with a particular velocity.  
. Make sure that the send_totarget node works, by running it and watching the turtle in the  
simulator using a launch file that launches the node and Rviz.  
. Add a TF display plugin to RViz. Display the turtlesim as it is approaching the target with reference  
to the world frame.
What to submit  
You should hand in everything that someone else needs to run your code. For this assignment, that  
means your source code, manifest file, CMakeLists.txt (if you’re using C++), and launch files. You  
should not hand in executable files, or any other files that can be regenerated.  
The code of the code  
1
2
3
. Make sure that your code is tidy and well-documented.  
. All parameter values should be configurable via the launch file.  
. You should do this laboratory on your own. All the work you turn in should be yours, and not done  
in collaboration with anyone else. If you use any external sources of inspiration, other  
than ros.org, then let us know in a README file.  
4
. Your code should be easy to run. After getting a copy of your code, running  
catkin_make –pkg <name of your package>  
roslaunch <name of your package> <file.launch>  
should be sufficient to start up Gazebo and make the robot move.  
5
. Finally, zip all the necessary files (your source code, package.xml file, CMakeLists.txt (if you’re  
using C++), and launch files) and submit the zip file with your report to VITAL  
Your report should include the following.  
) Screenshots of results as evidence you have completed the work.  
1
2
) Discussion of what worked and what did not. Discussion of all the testing that you have carried  
out.  
Warning  
You should be working on your own for this assignment. Finding any evidence of collusion will result in  
applying the University’s rules on the punishment for collusion.  
Submission Deadline  
Electronic copy: Sunday 17th May 2020 @ 11:59pm on VITAL  
Good Luck!  
H. Lakany (03/05/2020)  
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