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robots:computer:talos:software [2015/01/12 14:20] david |
robots:computer:talos:software [2021/08/14 04:21] |
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- | ====== Software ======= | ||
- | **general: | ||
- | * Operating System Ubuntu 14.04 www.ubuntu.com | ||
- | * Robot Software (ROS) http:// | ||
- | * parts of the software are based on [[robotsoftware: | ||
- | **visualisation tool:** | ||
- | {{: | ||
- | |||
- | **node graph:** | ||
- | {{ : | ||
- | |||
- | **rough Programming structure** | ||
- | * using laserscanner for obstacle avoidance | ||
- | * IMU set orientation angle | ||
- | * absolute position gets evaluated by the signals of IMU, RTK-GPS and wheel encoders | ||
- | * 3 Layer architecture | ||
- | * Deterministic path planning | ||
- | * security layer | ||
- | * obstacle avoidance | ||
- | |||
- | |||
- | **Launch files:** | ||
- | |||
- | as typical in the ros environment, | ||
- | At the current status of the TALOS robot every Sensor-System got its own launch file. A launch file | ||
- | defines the running programms (nodes) and the neccessary starting parameters for the device/ | ||
- | or algorithm. | ||
- | Description of ROS launch files can be found here: | ||
- | [[http:// | ||
- | |||
- | Example for a minimum setup: | ||
- | |||
- | - Start programm for accessing the motorcontrollers | ||
- | - Start programm to recceive some signals of a joystick | ||
- | - Start programm to send the joystick signals to the motorcontroller | ||
- | |||
- | For the system start there are several launch files neccessary if the robot should be able to move: | ||
- | |||
- | * Motorcontrollers (actor) | ||
- | * Joystick (as command node) | ||
- | |||
- | for setting up | ||
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- | **Missin files ** | ||