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robots:computer:talos:software:program_structure
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| Both sides previous revision Previous revision Next revision | Previous revision | ||
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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=" | ||
| + | /> | ||
| + | </ | ||
| + | |||
| + | |||
robots/computer/talos/software/program_structure.1421071828.txt.gz · Last modified: 2021/08/14 04:20 (external edit)
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