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--- robots:computer:talos:software [2015/01/12 12:52]
david
+++ robots:computer:talos:software [2015/01/12 14:26]
david
@@ Line 1: / Line 1: @@
 ====== Software =======
-**general:**
+== General: ==
   * Operating System Ubuntu 14.04 www.ubuntu.com
   * Robot Software (ROS) http://ros.org
@@ Line 7: / Line 8: @@
 {{:robots:computer:talos:rviz_visio_5.png|}}
-**node graph:**
+**General Programming structure**
-{{ :robots:computer:talos:node_graph.png|}}
+  * Using laserscanner for obstacle avoidance
-**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
+  * Absolute position gets evaluated by the signals of IMU, RTK-GPS and wheel encoders
   * 3 Layer architecture
      * Deterministic path planning
-     * security layer
+     * Security layer
-     * obstacle avoidance
+     * Obstacle avoidance
 **Launch files:**
-as typical in the ros environment, the whole system parameters can be defined by 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.
+At the current status of the TALOS robot every Sensor-System got its own launch file. A launch file
-Example:
+defines the running programms (nodes) and the neccessary starting parameters for the device/programm
-...later
+or algorithm.
-... link to ros launchfiles description
+Description of ROS launch files can be found here:
+[[http://wiki.ros.org/roslaunch/XML|link]]
-For the system start there are several launch files neccessary if the robot should be able to move:
+Example for a minimum setup:
-* motorcontrollers (actor)
+  - Start programm for accessing the motorcontrollers
-* Joystick (as command node)
+  - Start programm to recceive some signals of a joystick
-for setting up
+  - Start programm to send the joystick signals to the motorcontroller
-**Missin files **
+In our system system these parts get started by two different launch files:
+  * Motorcontrollers (actor)
+  * Joystick (as command node)
+**Node graph:**
+{{ :robots:computer:talos:node_graph.png|}}

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