Write appropriate ROS/Python​ that continuously orientates a turtlebot to Polaris (the north star) from anywhere on Earth?

asked 2020-11-26 06:06:30 -0600

Adwait_Naik gravatar image

I am a beginner in ROS and pursuing my master's in robotics. I have been given this question as an assignment. Although I have worked with turtle bot for motion planning this particular problem is somewhat different. I am assuming this problem based on navigation and perception. Can anyone explain the approach to this problem?

Thanks

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approach it by dividing the problem into smaller problems. You say you know how to plan a motion with turtlebot, so that problem is solved. resting problems are: where is Polaris? (+- absolute north). how to find robot orientation relative to absolute north? (compass)

crnewton gravatar image crnewton  ( 2020-11-26 09:20:15 -0600 )edit

Is not that, there is only possible to do that in the northern hemisphere?

michelle_mac gravatar image michelle_mac  ( 2020-11-29 12:34:00 -0600 )edit

maybe, but that's not a ros problem :). but i'm sure there is an astronomy API to track stars.

crnewton gravatar image crnewton  ( 2020-11-30 01:55:03 -0600 )edit

The point is there is no need to straight track. It is enough to track a north pole, which can be made with IMU. Then, it is not a problem to calculate the difference between the true north and north pole. So in the case of ROS, there is a need to properly configure the IMU, which will point to the north pole. So in fact, to set a reference frame for IMU. Or create a "north_polar" frame in brute force manner, as we know the position in the reference to the earth origin.

michelle_mac gravatar image michelle_mac  ( 2020-11-30 03:40:45 -0600 )edit