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robots:computer:talos:software
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robots:computer:talos:software [2015/01/12 14:21] david |
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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 | ||
| - | |||
| - | **Missin files ** | ||
robots/computer/talos/software.txt · Last modified: 2021/08/14 04:21 (external edit)
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