This shows you the differences between two versions of the page.
robots:computer:talos:software [2015/01/12 14:33] david |
robots:computer:talos:software [2021/08/14 04:21] |
||
---|---|---|---|
Line 1: | Line 1: | ||
- | ====== Software ======= | ||
- | == General: == | ||
- | |||
- | * Operating System Ubuntu 14.04 www.ubuntu.com | ||
- | * Robot Software (ROS) http:// | ||
- | * parts of the software are based on [[robotsoftware: | ||
- | |||
- | **Visualisation tool (Example): | ||
- | |||
- | {{: | ||
- | |||
- | **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, | ||
- | 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 | ||
- | |||
- | 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: | ||
- | |||
- | < | ||
- | <node pkg=" | ||
- | < | ||
- | </ | ||
- | |||
- | <node pkg=" | ||
- | < | ||
- | < | ||
- | < | ||
- | </ | ||
- | </ | ||
- | |||
- | in this example, the joystickdriver gets started and the the joystick values gets provided for later use. | ||
- | |||
- | |||
- | **Node graph:** | ||
- | |||
- | {{ : | ||