In this assignment, you will perform coordinate transforms to determine the location of an object seen by a sensor relative to the robot and to the world coordinate frames.
This assignment is split into two parts:
Verify that your node gives the same answer as your calculations in Part 1.
Your robot is in position (5, 3) facing 45 degrees left of the y-axis (135 degrees relative to x-axis) in world coordinates. It has a sensor pointed exactly behind the robot (180 degrees from forward/positive x-axis on the robot) and placed 1 m behind the center of the robot.
The sensor returns obstacles in the following locations (in the sensor coordinate frame):
Submit a PDF to Blackboard with the answers (along with any work) to questions 1-6 above.
Also complete the Qualtrics survey about the assignment.
24 points: Answers to instruction questions 1-6 (4 points each)
12 points: ROS node/launch file to perform the transform for any Vector2D input
4 points: Submission details as defined above