diff --git a/introduction/figure_8_graphs/distances.png b/introduction/figure_8_graphs/distances.png
new file mode 100644
index 0000000000000000000000000000000000000000..22e724eff516f6c8a524ae69d90f0bea0a723075
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diff --git a/introduction/figure_8_graphs/locations.png b/introduction/figure_8_graphs/locations.png
new file mode 100644
index 0000000000000000000000000000000000000000..1251a2c541cd8e401d55f96dcb61c054dec64a6d
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diff --git a/introduction/launch/fibonacci.launch b/introduction/launch/fibonacci.launch
index df85825c4fe89b750ca19c583b6a80591648b6ca..44ea7080397acf4deddf2f46b1d4086f52a6fdfc 100644
--- a/introduction/launch/fibonacci.launch
+++ b/introduction/launch/fibonacci.launch
@@ -36,7 +36,7 @@
using the launch file argument from above.
-->
<!-- BEGIN QUESTION 1.3 -->
- <!-- REPLACE THIS LINE -->
+ <param name="fibonacci_index" value="$(arg index)" />
<!-- END QUESTION 1.3 -->
</node>
</launch>
diff --git a/introduction/map_change/cse2_2map.png b/introduction/map_change/cse2_2map.png
new file mode 100644
index 0000000000000000000000000000000000000000..e4f032e415b65b709ef75c377a0ea2b23e23883a
Binary files /dev/null and b/introduction/map_change/cse2_2map.png differ
diff --git a/introduction/runtime_comparison.png b/introduction/runtime_comparison.png
new file mode 100644
index 0000000000000000000000000000000000000000..f647475d3b4f0bd184c29ca7bee27aca5df628d7
Binary files /dev/null and b/introduction/runtime_comparison.png differ
diff --git a/introduction/scripts/fibonacci b/introduction/scripts/fibonacci
index 1e580aeff415bda4bfa6d350c19d9f861cdafa71..0cec5464b00664611d8cc313ec3fe3edaad8e5db 100755
--- a/introduction/scripts/fibonacci
+++ b/introduction/scripts/fibonacci
@@ -14,8 +14,8 @@ from introduction.fibonacci import compute_fibonacci
# False and code inside won't run.
if __name__ == "__main__":
# You can uncomment the following lines after completing compute_fibonacci.
- # fibonacci_numbers = [compute_fibonacci(i) for i in range(11)]
- # print(fibonacci_numbers)
+ fibonacci_numbers = [compute_fibonacci(i) for i in range(11)]
+ print(fibonacci_numbers)
# Every node registers itself with the ROS master process, so we must pass a
# name for the node. (A good practice is to use the same name as the script,
@@ -32,7 +32,7 @@ if __name__ == "__main__":
# to make sure it's the right type (an integer)! Feel free to specify a
# default value.
# BEGIN QUESTION 1.2
- "*** REPLACE THIS LINE ***"
+ fib_index = rospy.get_param("~fibonacci_index", 1)
# END QUESTION 1.2
# Here's an example to create a ROS publisher. The queue_size defines how
@@ -48,7 +48,7 @@ if __name__ == "__main__":
# what type of messages do we want to publish from our Fibonacci publisher?
# (Hint: check the imports at the top of the file.)
# BEGIN QUESTION 1.2
- "*** REPLACE THIS LINE ***"
+ fib_publisher = rospy.Publisher(fib_topic, Int64, queue_size=1)
# END QUESTION 1.2
# It can take some time for the publisher to be ready, so we'll wait before
@@ -61,5 +61,5 @@ if __name__ == "__main__":
# Call compute_fibonacci with the index you obtained earlier, then publish
# the resulting Fibonacci number.
# BEGIN QUESTION 1.2
- "*** REPLACE THIS LINE ***"
+ fib_publisher.publish(compute_fibonacci(fib_index))
# END QUESTION 1.2
diff --git a/introduction/scripts/pose_listener b/introduction/scripts/pose_listener
index f72381fd94488b945f93fbefe43c761635bf14bf..48b5ee8fa4d1bcbda4b280891cd51c7d9fd36c31 100755
--- a/introduction/scripts/pose_listener
+++ b/introduction/scripts/pose_listener
@@ -48,5 +48,10 @@ if __name__ == "__main__":
# Use norm_numpy to compute the distance from the origin over time. Then,
# plot the distance over time as a line chart and save the plot.
# BEGIN QUESTION 2.5
- "*** REPLACE THIS LINE ***"
+ plt.figure()
+ plt.plot(range(len(locations)), norm_numpy(locations))
+ plt.title("Car Distance from origin over time")
+ plt.xlabel("Time")
+ plt.ylabel("Distance from Origin (m)")
+ plt.savefig("distances.png")
# END QUESTION 2.5
diff --git a/introduction/src/introduction/fibonacci.py b/introduction/src/introduction/fibonacci.py
index 4bbe1f5b81e2c9f13d93d51c76e011cf483a9379..c45e75f3122547c2bbed37941236f035b422bf3f 100644
--- a/introduction/src/introduction/fibonacci.py
+++ b/introduction/src/introduction/fibonacci.py
@@ -13,5 +13,15 @@ def compute_fibonacci(n):
3
"""
# BEGIN QUESTION 1.1
- "*** REPLACE THIS LINE ***"
+ if n == 0:
+ return 0
+ if n == 1:
+ return 1
+ prev_num = 0
+ next_num = 1
+ for i in range(n-1):
+ intermed = prev_num + next_num
+ prev_num = next_num
+ next_num = intermed
+ return next_num
# END QUESTION 1.1
diff --git a/introduction/src/introduction/indexing.py b/introduction/src/introduction/indexing.py
index ef82445ebac3a492fcbbf6d025b1723f3b9deb32..0a0b9e9756bf756033785c282d66bdd4d6cfebee 100644
--- a/introduction/src/introduction/indexing.py
+++ b/introduction/src/introduction/indexing.py
@@ -1,4 +1,4 @@
-# from introduction.fibonacci import compute_fibonacci
+from introduction.fibonacci import compute_fibonacci
def extract_fibonacci_rows(data):
@@ -17,7 +17,8 @@ def extract_fibonacci_rows(data):
[34, 37, 38]])
"""
# BEGIN QUESTION 3.1
- "*** REPLACE THIS LINE ***"
+ n , d = data.shape
+ return data[[compute_fibonacci(i) for i in range(n) if compute_fibonacci(i) < n]]
# END QUESTION 3.1
@@ -44,5 +45,5 @@ def increment_rows_with_odd_first_element(data):
[16, 17, 18]])
"""
# BEGIN QUESTION 3.2
- "*** REPLACE THIS LINE ***"
+ data[data[: , 0] % 2 == 1] += 1
# END QUESTION 3.2
diff --git a/introduction/src/introduction/listener.py b/introduction/src/introduction/listener.py
index 6a0b5aa8378d9b7fad5815ca47881eefde98cb77..11da8e14c61da68601ee2a7a62a42b4c3375b135 100644
--- a/introduction/src/introduction/listener.py
+++ b/introduction/src/introduction/listener.py
@@ -2,7 +2,7 @@ import numpy as np
import rospy
# BEGIN QUESTION 2.3
-"*** REPLACE THIS LINE ***"
+from geometry_msgs.msg import PoseStamped
# END QUESTION 2.3
@@ -17,7 +17,11 @@ def norm_python(data):
n, d = data.shape
norm = np.zeros(n)
# BEGIN QUESTION 2.1
- "*** REPLACE THIS LINE ***"
+ for i in range(n):
+ sqrd_sum = 0
+ for j in range(d):
+ sqrd_sum += (data[i, j] ** 2)
+ norm[i] = sqrd_sum ** (0.5)
# END QUESTION 2.1
return norm
@@ -33,7 +37,7 @@ def norm_numpy(data):
# You can call np.sqrt, np.sum, np.square, etc.
# Hint: you may find the `axis` parameter useful.
# BEGIN QUESTION 2.2
- "*** REPLACE THIS LINE ***"
+ return np.sqrt(np.sum(np.square(data), axis=1))
# END QUESTION 2.2
@@ -50,7 +54,7 @@ class PoseListener:
# "X_msgs/Y", the Python import would be "from X_msgs.msg import Y".
# BEGIN QUESTION 2.3
"*** REPLACE THIS LINE ***"
- self.subscriber = None
+ self.subscriber = rospy.Subscriber("/car/car_pose", PoseStamped, self.callback)
# END QUESTION 2.3
def callback(self, msg):
@@ -62,7 +66,8 @@ class PoseListener:
# Extract and store the x and y position from the message data
# BEGIN QUESTION 2.4
- "*** REPLACE THIS LINE ***"
+ position = msg.pose.position
+ self.storage.append((position.x, position.y))
# END QUESTION 2.4
if len(self.storage) == self.size:
self.done = True
diff --git a/introduction/tight_figure_8_graphs/distances.png b/introduction/tight_figure_8_graphs/distances.png
new file mode 100644
index 0000000000000000000000000000000000000000..63fea24cf30483ab143542223f3e3e4ea9885dc6
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diff --git a/introduction/tight_figure_8_graphs/locations.png b/introduction/tight_figure_8_graphs/locations.png
new file mode 100644
index 0000000000000000000000000000000000000000..fcf7e9c331298d3de143c0a7a47cd3d52db276d1
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diff --git a/introduction/writeup/README.md b/introduction/writeup/README.md
index eff76ebff23d5004c8a8438702afcc4dba24d3ab..5d3d992ce139de5331b9563bfdb9169abbcd7230 100644
--- a/introduction/writeup/README.md
+++ b/introduction/writeup/README.md
@@ -1,4 +1,19 @@
# Project 1: Introduction [](../../../pipelines/submit-proj1/latest)
-Replace this with your own writeup!
+1. A node is a process responsible for handling a certain task. A topic is associated with a node, and responsible for communication between nodes by publishing some information processed by the node. A publisher is a set of rules that describe what information should be published to a certain topic and how it should be done. A subscriber is a set of rules used by certain node which ingest and process published information from topics.
+2. A launch file is responsible for starting multiple nodes at once. This is useful when trying to do complex tasks with multiple dependent nodes.
+
+3. Screenshot of Map
+ 
+
+4. Runtime Comparison Graph
+ 
+
+5. Distance and Location graphs for figure 8 path
+ 
+ 
+
+6. Distance and Location graphs for tight figure 8 path
+ 
+ 