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projects:ideas:mobotware [2013/09/25 13:41] claes [In row navigation with laserscanner and Kinect] |
projects:ideas:mobotware [2021/08/14 04:21] |
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- | ====== MobotWare Project Ideas ====== | ||
- | ===== In row navigation with laserscanner and Kinect ===== | ||
- | http:// | ||
- | ==== Short Description ==== | ||
- | Create a plugin for MobotWare in AuRobotServers that enables a robot to follow rows of crop plants in fields using a LIDAR and/or Kinect | ||
- | ==== Assigments ==== | ||
- | In agriculture the robots can not just follw the shortest route to a waypoint. They have to follow the rows of crop in the field so they do not damage the crop and thereby reduce the yield. | ||
- | The robot should be able to navigate in the field during differet growth stages of the crop. | ||
- | |||
- | This can be solved with a real-time feedback control, which can correct the position of the robot when it is navigating in the field. | ||
- | |||
- | At the moment there are two possible solution, 1) using a kinect, 2) using a LiDAR. | ||
- | |||
- | There are advanteges and disadvanteges with both sensor, therefor a solution for each sensor, or a combination is preferred. When the plants are very small it is very difficult to detect them with a LiDAR. When operation outdoors the Kinect may not be stable. | ||
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- | ===== MobotWare User Interface ===== | ||
- | ==== Continue the work started by Thomas Parkhøi ==== | ||
- | Thomas Parkhøi wrote the BSc Thesis Robot mission manager GUI with sugguestions for updating the UI for the hako client. | ||
- | |||
- | These updates should be finished and tested. | ||
- | ===== MobotWare for LegoMindstorms NXT ===== | ||
- | Create a firmware for Legomindstorms so it is possible to program them using SMRCL and/or a highlevel controller program connect to the mindstorm via Bluetooth. | ||
- | * Firmware for running SMRCL | ||
- | * Drives for the sensors | ||
- | *Both native Lego sensors and third party sensors. | ||
- | The mindstoms could then also be used as a simulation tool for the Hako or other robots. | ||
- | ===== ROS/ | ||
- | There is a ROS-NXT pack that uses a lot of interesting functions. It could be cool to control the mindstoms with a combination of ROS and SMRCL. | ||
- | |||
- | |||
- | ===== Plugin based MRC ===== | ||
- | Change/ | ||
- | |||
- | ===== SMRCL IDE/ | ||
- | The idea is to write a script and execute with rhd/ | ||
- | - step in to | ||
- | - step over | ||
- | - breakpoint | ||
- | - run to breakpoint | ||
- | - run | ||
- | - pause | ||
- | - stop | ||
- | - feedback on variables | ||
- | |||
- | use scintilla as editor, functions for editor: | ||
- | - SMRCL syntax highlighter | ||
- | - autocomplete | ||
- | - code snippets | ||
- | |||
- | load scripts from files would also be a good idea. | ||
- | |||
- | maybe just syntax highlite for Notepad++/ | ||
- | |||
- | maybe as a ide for eclipse - http:// | ||
- | ==== Debugger/ | ||
- | Include debugger where you can test differnt commands | ||
- | |||
- | A GUI program where you can select the commands, create a script and chose when to execute each command. | ||
- | |||
- | ==== Simulation ==== | ||
- | Include default configs for simulating with MobotWare | ||
- | |||
- | ===== SMR-CL interpreter for ROS ===== | ||
- | Make it possible to control all Frobomind robots with SMR-CL. | ||
- | |||
- | ===== Manual For MobotWare ===== | ||
- | Create a manual so alot of people can use MobotWare, and also create plugins for it. | ||
- | |||
- | Keep the sourcecode closed but open the API for plugins. | ||
- | |||
- | ===== Implement software development tools For MobotWare ===== | ||
- | * XDDP | ||
- | * Spec | ||
- | * feature matrix | ||
- | * XDDP4SPL | ||
- | * SPL | ||
- | * Ticket/ | ||
- | * Traq | ||
- | * Trac | ||
- | * SVN | ||
- | * doxygen | ||
- | * dokuwiki/ | ||
- | |||
- | website the can integrate the spec that tsuneo is talking about, along with doxygen, wiki and management like git or Trac | ||
- | |||
- | Tsuneo is also working on a tool. | ||
- | ===== Implement MobotWare on Hortibot, | ||
- | and maybe other robots at SDU |