In this assignment, you will modify your code from Homework 3 and connect it in between the mystery_node and unit_listener. This is intended to show you 1) how to work with third-party packages you may want to use in the future and 2) how to use parameters to make your code more flexible. You may choose to modify the same unit conversion code file as you created in Homework 3 or make a new one. Do not modify your publisher from Homework 2, the Mystery Node or Unit Listener! Here are the detailed specifications:
At the end of this, unit_listener should log statements to the console in whatever units your conversion code publishes. See slides for an example graph of the end product.
Test your code thoroughly by changing the parameter on the command line and watching the output from your conversion node and the console. It should start as Smoots and then change as you change the parameter on the command line.
Submit a PDF to blackboard with:
roslaunch <package> <launch_file>
6 points – Added new unit smoots
10 points – Parameter to switch units
10 points – Successful remap
10 points – All nodes started in launch file, launcher script correct
2 points – Tag applied in git
2 points – Answers given in PDF