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We left at the point that a robot was able to send us the pores of its look because it's spores from

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Gazi was a relation to the script.

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Let's move on.

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Previously in the go to function we just wrote a minus which is equal to one meaning.

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Do something.

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Don't give me a syntax.

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Added a no.

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I am going to write certain things.

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The first thing is going to be related to the equations.

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What were the equations?

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The equations were distance at a distance that was equal to the square root of something like a square

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root.

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And then within there was a square for x2 minus from x2, minus x1 and then there was a again a square

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of y2 minus y1 and it's square x2, minus x1 and x squared.

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That's how you write the squares for all the force.

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So we have a distance error being calculated and then we have an what was the name, eight and do an

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optimized function for our contingent.

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And that was containing y two minus y one and that was divided by x2 minus x one, if I remember correctly.

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So these are the equations that we need to fill and now we are going to be filling them with the proper

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value.

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So x2 is basically good and Google contains x and y two values.

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The next thing for Robot Boy is Robot Pose contains three values X, Y, and Z.

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Previously, when we saw that there was orientations, Z was changing into values.

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I came across very interesting information.

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Let me share it with you.

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When I got into the cross to show Interface.

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Show me the interface of NAV messages.

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Again, there is a messages and then there is our dormitory.

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Now, if I get information about it, when I see geometric message post covariance with force that was

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added straight, that was containing the board.

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So I have to get the information about this specific message across to interface.

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Sure.

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Geometric message with Bose.

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Covariance.

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Bose with covariance.

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Bose with covariance.

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And yes, show me this specific message state.

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What does it contains?

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It shows it contains Bose, Bose and some variances.

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So what is Bose eight?

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I think the Bose's geometric message was.

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And what does this Bose contain?

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It contains a point position, which is three values point position, X, Y, Z and a good turning orientation.

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Now the to orientation is very important thing, but that really is basically a representation of a

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rotation in 3D space, a more appropriate method to represent orientation in 3D space.

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In our case, we need to convert it into way that I get from Atomic.

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I listen.

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I obtained this code in which our goal was actually converting or turning orientation into a letter

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and that can be read in in degrees.

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We need this.

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So how can we utilize it?

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We can utilize it here.

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Like the point that I just emphasized that from the Bose Bose orientation part, which is a quarterly

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endpoint, we are going to make it as ten year ops.

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We are going to write its name as quite dead, and yet I'm going to say it's which molecule.

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And then we are going to say call this specific function.

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This specific function is going to give all three values.

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The role, the role, pitch angle, three different angles of when we call this function and this function

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is class function.

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And what does it requires?

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It requires X, Y, Z and Omega W.

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We'll give that in this manner, which is quarterly text.

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We're going to give it as quarterly invite, but again, let it go to the Omega.

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These are all values that are being obtained by the message that we are dealing with Z and Y.

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So it is going to give us role by role picture and we are only interested in Java.

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So I'm going to just write something very.

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Interesting related to the robot was I'm going to utilize this where it is point position.

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If I'm going to use this message type, if I write it geometric message point, what does it contain?

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It contains three values flawed six four, three values x, y, z.

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And that's what I need to make it more object oriented.

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I am going to utilize the class and write a variable and that is going to be a robot force.

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That is going to be all point type Y and robot for Z's job.

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So you understand what I did.

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I utilize the rise functionality, loss medicine, step into my robot for saving you.

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So what are you know, you understand what I did?

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I obtained the boards in a very different manner.

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I converted into I let go of the orientation part only I'm submitting to a specific data type into a

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flow data type that it is that is robust based data.

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David I don't want to create a custom one.

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So point contains three float values and I have float values to store in it.

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So the robot poses of point type.

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There is another point variable I will be using and that is goal posts.

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I will not be making the robot move towards the goal post with the specific orientation, but I should

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just write goal position.

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But I'll write goal posts as I like it.

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I'll do a robotics time if I save both both content position and orientation.

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But I'm not dealing with orientation specific goal because it is going to make the code very complex

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and I'm not in the favor of that right now.

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So here when we call go to goal function, we are going to initialize three different values goal force

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X

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and then we are going to how we are going to define we are going to take value from the user from the

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terminal system.

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DOT are we whenever we run through the terminal we can utilize the arguments of it as well and we are

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using the service function assist library, so import sets as well.

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And similarly for the X Park for the Y part as well, although it contains a Z part, but we are not

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going to be utilizing it.

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Okay.

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And it returns a string.

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So I will convert it into a float to make it more understandable.

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Everything else is are dealing with floats or converted to to float.

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Now coming to the real part, how these equations are going to make sense x2 is going to be the goal

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for is x okay goal pose x minus the robot pose x.

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Okay.

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This is going to be the turning point of our code where things are going to be get technical and both

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of them are dealing with X right now.

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And similarly, we are going to copy it and we are going to be based it for the Y part here.

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I'm going to do right y y it is stacking goalpost y could pose x and both goalposts vital, which is

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why it was like minus robot pose.

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Right?

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So the equation is now set a square.

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It is not yet imported.

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I will import that.

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Let me complete the equations first.

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Goalpost X was y and here y and here.

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Right.

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So you can see we have arranged things in a manner that we have defined in the structure.

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We are utilizing raw structures that are going to make a useful code out of it and more presentable

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code.

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That's very important.

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I'm going to utilize this self-taught, self-taught angle to cool a very class variable is going to

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be created self taught distance to call.

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Both of these variables are going to be initialized in the class as well.

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Self taught angle to goal and set of distance to void.

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Our version of these variables are initialized ID and matched related property that here.

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So I'm going to say import map.

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And four square root beer.

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Was it Matt Doherty?

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Square Root.

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Matt Doherty Thank you.

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I hope everything is good right here.

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We just need to publish our message and see if things are working in our favor or not.

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As this function is going to recall, this go to call function is going to be called every half a second.

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I'm going to change it to 0.2 of a second every 0.2 seconds.

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It is going to call this go to go function and I'm going to print out the message, hit the log in message

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what it is going to be ex-wife.

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And I don't need that.

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I don't need this anymore.

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I am going to write self taught distance to go and self doubt.

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I'm going to put both of these are going to be utilized here.

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I'm going to say distance to goal and angle to do it and it is going to be logged in.

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Let's build it if we can.

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And where is our simulation?

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We are going to bring our robot back to the point where it was.

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Let me bring it here and we've created a little bit to make it more look like that it has yet going

145
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to move from the origin.

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I am going to run my node that we need to do before running it.

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We have to give these arguments as well.

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Several effects sinks away as the arguments are in the code.

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Let's take a look what is going to be the output.

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So it says that you have a distance to go line booted and angle equals 0.7.

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I have given seven six.

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Right.

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00:11:46,710 --> 00:11:51,090
I'm going to rotate that order and see if it changes a little bit.

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If I rotated totally, does it changes very little?

155
00:11:57,420 --> 00:12:00,210
There is some sort of a problem with the robot, I think.

156
00:12:00,570 --> 00:12:01,920
No, that is not the case.

157
00:12:01,920 --> 00:12:03,330
My robot is not moving.

158
00:12:03,330 --> 00:12:08,910
If I put it here, then the values change as all of the values are dependent on x and y.

159
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Okay.

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00:12:09,360 --> 00:12:12,180
It is not taking the force of the robot directly.

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00:12:12,480 --> 00:12:18,480
So angle to call 0.6 as I move the robot angle to voltages and the distance towards changes as well.

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00:12:19,140 --> 00:12:27,090
So to some extent our code is ready, but we need to give control commands to a robot and see what is

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the difference that we can do create that is going to make the robot move.