Politecnico di Milano Duckietown Autolab.
Localization for our watchtower.
The node localization/watcher.py send a multicast UDP msg of type DuckPose in the group "my_position". The node getmap_server provides the description of the map, again as a mUDP of group "my_map".
To use install the duckietown shell DTS and run the following command:
dts devel build -f -H watchtower00.local
dts devel run -H watchtower.local
That's it. A UDP message is now being streamed and can be read from any device in the network.
To connect to the running ROS environment:
dts start_gui_tools watchtower00.local
Based on ROS, find the scripts inside packages/localization
If PUB_RECT is True a topic of type CompressedImage will be published with the rectified image and, if possible, the position of the duckiebot.
