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robots:computer:talos:software [2015/01/12 14:24] david |
robots:computer:talos:software [2021/08/14 04:21] (current) |
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* 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 tool:** | ||
- | {{: | ||
- | **Node graph:** | + | **Visualisation tool (Example):** |
- | {{ : | + | {{: |
- | **rough Programming structure** | + | **General |
- | * using laserscanner for obstacle avoidance | + | |
+ | * 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. A launch file | 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/ | defines the running programms (nodes) and the neccessary starting parameters for the device/ | ||
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* Motorcontrollers (actor) | * Motorcontrollers (actor) | ||
* Joystick (as command node) | * 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: | ||
+ | |||
+ | |||
+ | | ||