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robots:computer:talos:software [2015/01/07 15:06] david |
robots:computer:talos:software [2021/08/14 04:21] (current) |
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====== Software ======= | ====== Software ======= | ||
- | **general:** | + | == General: == |
* Operating System Ubuntu 14.04 www.ubuntu.com | * Operating System Ubuntu 14.04 www.ubuntu.com | ||
* Robot Software (ROS) http:// | * Robot Software (ROS) http:// | ||
- | **details:** | + | |
+ | |||
+ | **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 (pkg=" | ||
+ | The second node (pkg=" | ||
+ | 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: | ||
+ | |||
+ | |||
+ | | ||
+ | |||
+ |