====== Software =======
== General: ==

  * Operating System Ubuntu 14.04 www.ubuntu.com
  * Robot Software (ROS) http://ros.org
  * parts of the software are based on [[robotsoftware:frobomind:welcome|FroboMind]]

**Visualisation tool (Example):**

{{:robots:computer:talos:rviz_visio_5.png|}}

**General 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, the whole system parameters can be defined by launch files.
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/programm
or algorithm. 
Description of ROS launch files can be found here: 
[[http://wiki.ros.org/roslaunch/XML|link]]

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

In our system system these parts get started by two different launch files:
 
  * Motorcontrollers (actor)
  * Joystick (as command node)

In each of this launch files start several programes (nodes) and set the parameters for them:

<launch>
	<node pkg="joy" type="joy_node" name="joy_node" output="screen">
			<param name="joy_node/dev" value="/dev/input/js0"/>
	</node>

	<node pkg="talos" type="joystick_core" name="joy" output="screen">
			<param name="joy_sub" value="/joy"/>
			<param name="cmd_vel" value="/cmd_vel_joy"/>
			<param name="cmd_vel_frame" value="/robot_frame"/>
	</node>
</launch>

in this example, the joystickdriver gets started (pkg="joy") and the port gets defined.
The second node (pkg="talos") is responsible for providing the joystickvalues at defined variables, so that other
programmes can use the values later. 

For autonomous mode there are a lot of more different nodes neccessary. The rough programming structure gets explained here:


 [[robots:computer:talos:Software:Program structure|Program structure]]