xml/RKSML file located in merb sol021 candidates
Submitted by Edward Tunstel
Video by Kurt Schwehr

The file,sol_016-to-021_traverse.xml, includes RKSML data for Opportunity
traverses on sols 16 through 21.

On sol 16, the traverse followed a "V-shaped" path sending the rover 2.5
meters backwards, turning in place -49 degrees, driving forward by 
1.0 meters, and then driving forward again by another 0.6 meters.

On sol 17, the traverse followed a "U-shaped" path sending the rover 1.3
meters backwards, turning in place by -90 degrees, driving forward by
2.9 meters, turning in place 90 degrees, driving forward by 0.573 meters,
and then finally driving foward by 0.5 meters.

On sol 19, the traverse followed another "V-shaped" path sending the rover
(mostly) south backwards for approximately 1.9 meters, turning in place to
Zugspitze (WNW), followed by a 2.5 meter forward drive.

On Sol 21, the traverse started by backing up -1.4 meters, followed by a
turn to the south west and a series of arcs taking the rover to the trench
location.  At the trench location the rover did a 180 degree turn-in-place
to face (mostly) northwards followed by a short 0.5 meter arc forwards.
The drive ended with the rover facing apx -10 degrees (almost North) ready
for trench site characterization sol 22.

Total wheel odometry (not factoring in wheel slip) was

  4.10 + 6.69 + 4.64 + 11.02 = 26.44m

Note the commanded traverse distances were precompensated for expected wheel slip. 

The terrain mesh used in RSVP is:
  /oss/merb/ops/ops/surface/tactical/sol/013/opgs/rdr/mult/asd/1mesh_13_FRN_3_FFL_0_v4.pfb
<br> USERNAME: schwehr