This week's assignment involved me having to use the ROS software to design different exercises for the Create iRobot carry out to test it's odometer. For example, attempting to answer questions such as: "Does the iRobot really go as far as its position tracker sensor says it does? and if not, How far does it really go and at what angle if any?". With this information we can design a fail safe calibrated to compensate for this odometer error to make for more accurate & precise movement of the iRobot in the x & y plane as it navigates to different coordinates.