📢 Course Announcements & Campuswire Archive

Posted: October 2025

# ❌ WRONG - This will fail the autograder
w = (vr - vl) / self.l_wheels
self.theta += w * dt

# ✅ CORRECT - Use gyroscope directly
self.theta += dt * self.gyro_yaw  # NO math.radians()!

Remember: The gyroscope data from /Gyro_yaw is already in rad/s. Do NOT convert it!

Posted: October 2025

GPS Fusion Logic - Replace, Don't Add!

# ❌ WRONG - Adding GPS to odometry
self.x += gps_x_displacement
self.y += gps_y_displacement

# ✅ CORRECT - GPS replaces position
if self.lat0 is not None and self.lon0 is not None:
    self.x, self.y = lonlat2xyz(self.latitude, self.longitude,
                                self.lat0, self.lon0)

Posted: October 2025

Due to popular request, Coding Exercise 1 deadline has been extended by 6 hours.

• New deadline: [Date] at 11:00 PM CST
• No further extensions will be granted
• Use office hours for help

Posted: October 2025

Use this bash script to automatically launch all required terminals for testing:

#!/bin/bash
# Launch script for Coding Exercise 1
gnome-terminal -- bash -c "source /opt/ros/humble/setup.bash; \
  ros2 bag play solar_house.db3 --loop; bash"
gnome-terminal -- bash -c "source install/setup.bash; \
  ros2 run mobile_robotics coding_ex1_part1; bash"
gnome-terminal -- bash -c "tail -f results_part1.txt; bash"