System Structure

General Overview from the system

Following image gives a broad vision of system, where:

• Black and white rectangles are ROS topics;
• Colored rectangles are ROS packages;
• Colored ellipses are ROS nodes;
• Arrows indicate publish/subscribe data flows.

Scenario Diagram

Here we see the 2D Pose scheme, including x position, y position and theta angle wrt. z axis.

• Robot (in blue) should follow the square of side L.
• Reference point is assumed to be the center of square.
• There are 4 walls (in brown) used as features in observation step of Kalman Filter.
• The distance from each center of wall plane to the origin is l.
• The distance in the perpendicular axis from wall center to origin is d.