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robots:computer:talos:software:program_structure [2015/01/12 15:11] david |
robots:computer:talos:software:program_structure [2021/08/14 04:21] (current) |
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* 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 54: | Line 48: | ||
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=" | ||
+ | /> | ||
+ | </ | ||
+ | |||
+ |