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--- robots:computer:talos:software [2015/01/07 16:30]
david
+++ robots:computer:talos:software [2021/08/14 04:21] (current)
@@ Line 1: / Line 1: @@
 ====== Software =======
-**general:**
+== General: ==
   * Operating System Ubuntu 14.04 www.ubuntu.com
   * Robot Software (ROS) http://ros.org
-**visualisation tool:**
+  * parts of the software are based on [[robotsoftware:frobomind:welcome|FroboMind]]
+**Visualisation tool (Example):**
 {{:robots:computer:talos:rviz_visio_5.png|}}
-**node graph:**
+**General Programming structure**
-{{ :robots:computer:talos:node_graph.png|}}
+  * 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, the whole system parameters can be defined by launch files.
+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/programm
+or algorithm.
+Description of ROS launch files can be found here:
+[[http://wiki.ros.org/roslaunch/XML|link]]
+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:
+<launch>
+	<node pkg="joy" type="joy_node" name="joy_node" output="screen">
+			<param name="joy_node/dev" value="/dev/input/js0"/>
+	</node>
+	<node pkg="talos" type="joystick_core" name="joy" output="screen">
+			<param name="joy_sub" value="/joy"/>
+			<param name="cmd_vel" value="/cmd_vel_joy"/>
+			<param name="cmd_vel_frame" value="/robot_frame"/>
+	</node>
+</launch>
+in this example, the joystickdriver gets started (pkg="joy") and the port gets defined.
+The second node (pkg="talos") is responsible for providing the joystickvalues at defined variables, so that other
+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:
+ [[robots:computer:talos:Software:Program structure|Program structure]]

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