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robots:computer:talos:software [2015/01/12 14:26] 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 | + | |
+ | **Visualisation | ||
{{: | {{: | ||
**General Programming structure** | **General Programming structure** | ||
+ | |||
* Using laserscanner for obstacle avoidance | * Using laserscanner for obstacle avoidance | ||
* IMU set orientation angle | * IMU set orientation angle | ||
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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: | ||
+ | | ||
- | **Node graph:** | ||
- | {{ : | ||