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robots:computer:talos:software:program_structure
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robots:computer:talos:software:program_structure [2015/01/12 15:29] david |
robots:computer:talos:software:program_structure [2021/08/14 04:21] |
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| - | ====== Program structure ====== | ||
| - | |||
| - | To provide a easy and modular programming of the robot, every device can be seperately started by a launch file. | ||
| - | They provide the startup setting whats neccessary | ||
| - | |||
| - | Launch files for the actors and sensor devices: | ||
| - | * Laserscanner (start_laserscanner.launch) | ||
| - | * IMU (start_imu.launch) | ||
| - | * Joystick (start_...) | ||
| - | * Motorcontrollers | ||
| - | * GPS | ||
| - | |||
| - | Launch Files for setting up the position estimation of the robot (odometry, path estimation, etc.): | ||
| - | * start_local_positioning.launch | ||
| - | * start_global_positioning.launch | ||
| - | |||
| - | Launch files for starting the basic control layers for following waypoints and avoid obstacles: | ||
| - | * start_deterministic_control.launch | ||
| - | * start_adaptive_control.launch | ||
| - | |||
| - | Launch files for the decision layer, what decides what singals finaly goes to the motorcontrollers and some visualisation: | ||
| - | * start_decision_layer.launch | ||
| - | * start_visualisation.launch | ||
| - | |||
| - | Under normal circumstances all launchfiles can be started with one command in a terminal: | ||
| - | < | ||
| - | |||
| - | a detailed graph of all programmed nodes can be found in the next picture of the overall node graph... | ||
| - | |||
| - | **Node graph:** | ||
| - | |||
| - | {{ : | ||
| - | |||
| - | **Mission files** | ||
| - | |||
| - | The robot navigation follow a 2D kartesian koordinate system. At outdoor navigation task we can use the | ||
| - | UTM Koordinate System to navigate. So the positions can be set by absolute coordinates in UTM. This is | ||
| - | sufficient for deterministic navigation. | ||
| - | But if we want to perform a special task at a certain point, some more information for success is neccessary! | ||
| - | This additional information could be: | ||
| - | * how precice do the robot need to reach the "goal point" | ||
| - | * how long should it stay there | ||
| - | * does it need to wait for other tasks to accomplish (z.B. picking a fruit) | ||
| - | * what to do if goal is unreachable | ||
| - | * are some special control parameters neccessary | ||
| - | * etc... | ||
| - | * | ||
| - | typically these information can be provided by a .txt or .xml file, because of the easy way of programming and | ||
| - | uncomplicated change for different programmes. | ||
| - | |||
| - | Example mission file (Mobotware): | ||
| - | |||
| - | < | ||
| - | <point | ||
| - | utme=" | ||
| - | utmn=" | ||
| - | comment=" | ||
| - | /> | ||
| - | <point | ||
| - | utme=" | ||
| - | utmn=" | ||
| - | speed=" | ||
| - | comment=" | ||
| - | /> | ||
| - | <point | ||
| - | utme=" | ||
| - | utmn=" | ||
| - | wait=" | ||
| - | comment=" | ||
| - | /> | ||
| - | <point | ||
| - | utme=" | ||
| - | utmn=" | ||
| - | comment=" | ||
| - | /> | ||
| - | <point | ||
| - | utme=" | ||
| - | utmn=" | ||
| - | wait_until_task_ready=" | ||
| - | comment=" | ||
| - | /> | ||
| - | </ | ||
| - | |||
robots/computer/talos/software/program_structure.txt · Last modified: 2021/08/14 04:21 (external edit)
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