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robots:computer:talos:software [2015/01/12 12:52] 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:// | ||
* parts of the software are based on [[robotsoftware: | * parts of the software are based on [[robotsoftware: | ||
- | **visualisation | + | |
+ | **Visualisation | ||
{{: | {{: | ||
- | **node graph:** | + | **General Programming structure** |
- | {{ : | + | |
- | **rough Programming structure** | + | |
- | * using laserscanner for obstacle avoidance | + | |
* IMU set orientation angle | * IMU set orientation angle | ||
- | * absolute | + | * Absolute |
* 3 Layer architecture | * 3 Layer architecture | ||
* Deterministic path planning | * Deterministic path planning | ||
- | | + | |
- | | + | |
**Launch files:** | **Launch files:** | ||
- | as typical in the ros environment, | + | as typical in the ROS environment, |
- | At the current status of the TALOS robot every Sensor-System got its own launch file. | + | At the current status of the TALOS robot every Sensor-System got its own launch file. A launch file |
- | Example: | + | defines the running programms (nodes) and the neccessary starting parameters for the device/ |
- | ...later | + | or algorithm. |
- | ... link to ros launchfiles description | + | Description of ROS launch files can be found here: |
+ | [[http:// | ||
- | For the system start there are several launch files neccessary if the robot should be able to move: | + | Example for a minimum setup: |
- | * motorcontrollers (actor) | + | - Start programm for accessing the motorcontrollers |
- | * Joystick (as command node) | + | - Start programm to recceive some signals of a joystick |
- | for setting up | + | - Start programm to send the joystick signals to the motorcontroller |
+ | |||
+ | In our system system these parts get started by two different launch files: | ||
+ | |||
+ | * Motorcontrollers | ||
+ | * Joystick (as command node) | ||
+ | |||
+ | In each of this launch files start several programes (nodes) and set the parameters | ||
+ | |||
+ | < | ||
+ | <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: | ||
+ | |||
+ | |||
+ | | ||
- | **Missin files ** | ||