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robots:computer:talos:software:program_structure [2015/01/12 15:10] david |
robots:computer:talos:software:program_structure [2021/08/14 04:21] (current) |
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====== Program structure ====== | ====== Program structure ====== | ||
- | to provide a easy and modular programming of the robot, every device can be seperately started by a launch file. | + | |
+ | To provide a easy and modular programming of the robot, every device can be seperately started by a launch file. | ||
They provide the startup setting whats neccessary | They provide the startup setting whats neccessary | ||
Line 14: | Line 15: | ||
* start_global_positioning.launch | * start_global_positioning.launch | ||
- | Launch files for starting the deterministic | + | Launch files for starting the basic control |
* start_deterministic_control.launch | * start_deterministic_control.launch | ||
- | |||
- | Here we can also define a file with absolute waypoints | ||
- | |||
- | Launch files for starting the adaptive obstacle avoidance: | ||
* start_adaptive_control.launch | * start_adaptive_control.launch | ||
- | Launch | + | Launch |
* start_decision_layer.launch | * start_decision_layer.launch | ||
- | |||
- | everything what have to do with the visualisation can be started by runing the file: | ||
* start_visualisation.launch | * start_visualisation.launch | ||
Under normal circumstances all launchfiles can be started with one command in a terminal: | Under normal circumstances all launchfiles can be started with one command in a terminal: | ||
- | //roslaunch talos start_navigation.launch// | + | < |
a detailed graph of all programmed nodes can be found in the next picture of the overall node graph... | a detailed graph of all programmed nodes can be found in the next picture of the overall node graph... | ||
Line 38: | Line 33: | ||
**Mission files** | **Mission files** | ||
- | the robot navigation follow a 2D kartesian koordinate system. At outdoor navigation task we can use the | + | |
+ | The robot navigation follow a 2D kartesian koordinate system. At outdoor navigation task we can use the | ||
UTM Koordinate System to navigate. So the positions can be set by absolute coordinates in UTM. This is | UTM Koordinate System to navigate. So the positions can be set by absolute coordinates in UTM. This is | ||
sufficient for deterministic navigation. | sufficient for deterministic navigation. | ||
Line 50: | Line 46: | ||
* etc... | * etc... | ||
* | * | ||
- | typically these information can be provided by a .txt or xml file, because of the easy way of programming and | + | typically these information can be provided by a .txt or .xml file, because of the easy way of programming and |
uncomplicated change for different programmes. | uncomplicated change for different programmes. | ||
+ | |||
+ | Example mission file: | ||
+ | |||
+ | < | ||
+ | < | ||
+ | utme=" | ||
+ | utmn=" | ||
+ | comment=" | ||
+ | /> | ||
+ | <point | ||
+ | utme=" | ||
+ | utmn=" | ||
+ | speed=" | ||
+ | comment=" | ||
+ | /> | ||
+ | <point | ||
+ | utme=" | ||
+ | utmn=" | ||
+ | wait=" | ||
+ | comment=" | ||
+ | /> | ||
+ | <point | ||
+ | utme=" | ||
+ | utmn=" | ||
+ | comment=" | ||
+ | /> | ||
+ | <point | ||
+ | utme=" | ||
+ | utmn=" | ||
+ | wait_until_task_ready=" | ||
+ | comment=" | ||
+ | /> | ||
+ | </ | ||
+ | |||
+ |