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robots:computer:talos:software
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robots:computer:talos:software [2015/01/12 14:33] 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 (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:** | ||
| - | |||
| - | {{ : | ||
robots/computer/talos/software.txt · Last modified: 2021/08/14 04:21 (external edit)
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