Navigation Tuning

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References

Navigation Tuning Guide

Odometry (1.2)

Run

Terminal 1

 roscore

Terminal 2

 roslaunch floor_hugger keyboard_teleop.launch

Terminal 3

 roslaunch floor_hugger active_mapping.launch

Used "d" to rotate the Floor Hugger slowly clockwise. The following is after four or more rotations. Edges look well defined.

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