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robots:computer:talos:software [2015/01/12 14:15] david |
robots:computer:talos:software [2015/01/12 14:33] david |
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====== Software ======= | ====== Software ======= | ||
- | **general:** | + | == General: == |
* Operating System Ubuntu 14.04 www.ubuntu.com | * Operating System Ubuntu 14.04 www.ubuntu.com | ||
* 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 | ||
{{: | {{: | ||
- | **node graph:** | + | **General Programming structure** |
- | {{ : | + | |
- | **rough Programming structure** | + | |
- | * 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. | + | 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/ | ||
+ | or algorithm. | ||
+ | Description of ROS launch files can be found here: | ||
+ | [[http:// | ||
- | Example: | + | Example |
- | ...later | + | - Start programm for accessing the motorcontrollers |
- | ... link to ros launchfiles description | + | - Start programm |
+ | - Start programm to send the joystick signals to the motorcontroller | ||
- | For the system | + | In our system |
* Motorcontrollers (actor) | * Motorcontrollers (actor) | ||
* Joystick (as command node) | * Joystick (as command node) | ||
- | for setting up | ||
- | **Missin files ** | + | 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 and the the joystick values gets provided for later use. | ||
+ | |||
+ | |||
+ | **Node graph:** | ||
+ | |||
+ | {{ : | ||