I spent a long time working on ensuring 90 degrees for a perfect square trajectory. I wanted to use /odometer topic to subscribe yaw but didn’t succeed. At last I used a dumb method to pass the quiz reluctantly. but when I open the solution, I found the solution code is using a similar method too lmao. How did you know that angular velocity of 0.2 and 4 secs would generate 90 degrees?
btw there’s a bug in the solution’s cpp file:
int reps = req.repetitions
for (int i=0; i < repetitions; ++i)
the first line missed a semicolon and the variable repetitions in the second line should be reps.