The aim of the first project is to publish accurate odometry for an autonomous vehicle (a small people-carrier) navigating a university campus. Control parameters are received through a bag file and odometry needs to be published both as Messages and TF.
The second project is based on a small agricultural skid-steering robot navigating a fairly dynamic office space. It's made up of two main parts:
- Mapping -- Build a map of the environment using a planar laser and a multi-plane LIDAR mounted on the robot.
- Navigation -- Simulate the robot having to localize and navigate within the maps computed previously.