Test Procedures

Set rover to manual mode for the following procedures.

Sonar

1. rostopic echo /swarmie0/sonarCenter

Accelerometer

1. rostopic echo /swarmie0/imu

Magnetometer

1. rostopic echo /swarmie0/imu
2. rotate 360 degree and see if it stops where it stops

Gyro

1. rostopic echo /swarmie0/imu

GPS

1. rostopic echo /swarmie0/fix
2. rostopic echo /swarmie0/navSat

Wheel Encoder

1. rostopic echo -r 10 /swarmie0/sonarCenter geometry_msgs/Twist '{linear: {x: 0, y: 0, z: 0}, angular: {x: 0, y: 0, z:0}}'
2. Measure the drift
3. Open up magnitometer and measure drift