general:

• Operating System Ubuntu 14.04 www.ubuntu.com
• Robot Software (ROS) http://ros.org
• parts of the software are based on FroboMind

visualisation tool:

node graph:

rough 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, 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: link

Example for a minimum setup:

1. Start programm for accessing the motorcontrollers
2. Start programm to recceive some signals of a joystick
3. Start programm to send the joystick signals to the motorcontroller

For the system start there are several launch files neccessary if the robot should be able to move:

• Motorcontrollers (actor)
• Joystick (as command node)

for setting up

Missin files