Add yaw control launch file

[icyflame]

• These files have not been tested on the vehicle yet.
• They can be merged once they have been tested on the vehicle.

cc @auviitkgp/developers @auviitkgp/embedded-team

[icyflame]

Two of the launch files were tested on the vehicle on 31/10/2015 with @aniket11bh and @kalyan-kumar .

Both imuDvl.launch and poseEstimator.launch are working. Only change to be made, is to chmod +x the sparton.py file to make it executable. These two vehicle launch files will be merged in another PR.

TODO: Check yawControl.launch file.

cc @prudhvid @kshitijgoel007

[prudhvid]

@icyflame how good is poseEstimator ? Is it giving correct values? Did you test that?

[icyflame]

@prudhvid As a matter of fact, Pose Estimator has been working since summer itself. (pose_server_python, merged in #56 ) and it works well, we checked that it gives correct values as per the quadrants, and the relative values are fine.

We haven't been able to test the absolute correctness of the values though.

Say, we move the vehicle by sqrt(2) meters at 45 degrees in the first quadrant, we have checked that both the coordinates are +ve, although we were unable to check if the coordinates were exactly (1, 1). Same for all 4 quadrants.

@aniket11bh has some planned enhancements, (see #77 ) that will make it more accurate, though we need to figure out how to test the absolute values for pose-estimator.

[icyflame]

yawControl.launch file could not be tested because the required packages were not installed on the vehicle.

[kshitijgoel007]

Is the yawControl.launch now tested? Let's close this.

[icyflame]

@kshitijgoel007 This has been closed 11 days ago 😛