Question: Open Loop Localisation Error Analysis Measure any Cartesian errors that may occur when the robot navigates in the map in open-loop mode No sensors are

Open Loop Localisation Error Analysis

Measure any Cartesian errors that may occur when the robot navigates in the map in open-loop mode

No sensors are required for completion of the pertinent tasks, since ROS and Gazebo already provide real-time Cartesian position feedback!

Simple computation: =

- Cartesian distance you want your robot to cover.

- starting position

- velocity input specified by the user.

- time is taken to move from to .

Task: in python, please

Turn Left 90 degree

Move forward in 20 mm intervals

Measure the Cartesian position error at every stage

Repeat 10 times and record the Cartesian error values

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